Initial wireless sonar sensor framework.

Author: bertrik

ros_ws/src/sonar/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>sonar</name>
+  <version>0.0.0</version>
+  <description>Wireless sonar sensor driver</description>
+  <maintainer email="bertrik@sikken.nl">Bertrik Sikken</maintainer>
+  <license>MIT</license>
+
+  <depend>std_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>bleak</depend>
+
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros_ws/src/sonar/setup.cfg

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+[develop]
+script_dir=$base/lib/lidar
+[install]
+install_scripts=$base/lib/lidar

ros_ws/src/sonar/setup.py

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+from setuptools import find_packages, setup
+
+package_name = 'sonar'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='bertrik',
+    maintainer_email='bertrik@sikken.nl',
+    description='Wireless sonar sensor driver',
+    license='MIT',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

ros_ws/src/sonar/sonar/sonar_node.py

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+#!/usr/bin/env python3
+# Copyright 2025 Bertrik Sikken <bertrik@sikken.nl>
+import math
+import threading
+
+import rclpy
+import serial
+from rclpy.node import Node
+from sensor_msgs.msg import Range
+
+
+class Sonar:
+    def __init__(self, device):
+        self.serial = serial.Serial(device, baudrate=230400, timeout=None)
+
+    def open(self) -> None:
+        if not self.serial.is_open:
+            self.serial.open()
+
+    def poll(self) -> bytes | None:
+        return None
+
+    def close(self) -> None:
+        self.serial.close()
+
+
+class SonarNode(Node):
+    def __init__(self):
+        super().__init__('sonar')
+        self.declare_parameter('device', value='/dev/ttyUSB0')
+        self.declare_parameter('topic', value='/sonar')
+        self.declare_parameter('frame_id', value='sonar')
+
+        device = self.get_parameter('device').get_parameter_value().string_value
+        self.sonar = Sonar(device)
+
+        self.frame_id = self.get_parameter('frame_id').get_parameter_value().string_value
+
+        topic = self.get_parameter('topic').get_parameter_value().string_value
+        self.publisher = self.create_publisher(Range, topic, 10)
+
+        # initialise Range message
+        self.msg = Range()
+        self.msg.header.frame_id = self.frame_id
+        self.msg.radiation_type = Range.ULTRASOUND
+        self.msg.field_of_view = math.radians(45)
+        self.msg.min_range = 0.3  # estimated
+        self.msg.max_range = 60.0  # 200 feet actually
+
+        # create and start listen thread
+        self.thread = threading.Thread(target=self.node_task())
+        self.thread.start()
+
+    def node_task(self) -> None:
+        self.sonar.open()
+        while rclpy.ok():
+            frame = self.sonar.poll()
+            if frame:
+                self.process_frame(frame)
+        self.sonar.close()
+
+    def process_frame(self, frame: bytes) -> None:
+        now = self.get_clock().now()
+
+        # publish message
+        self.msg.range = 12.34
+        self.msg.header.stamp = now.to_msg()
+        self.publisher.publish(self.msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    sonar_node = SonarNode()
+    rclpy.spin(sonar_node)
+    sonar_node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()