How to add sonar to turretbot3 in ros2

[ncncmc]

ISSUE TEMPLATE ver. 0.4.0

1. Which TurtleBot3 platform do you use?

   • [o] Burger
   • [ ] Waffle
   • [ ] Waffle Pi

2. Which ROS is working with TurtleBot3?

   • [ ] ROS 1 Kinetic Kame
   • [ ] ROS 1 Melodic Morenia
   • [ ] ROS 1 Noetic Ninjemys
   • [ ] ROS 2 Dashing Diademata
   • [ ] ROS 2 Eloquent Elusor
   • [o] ROS 2 Foxy Fitzroy
   • [ ] etc (Please specify your ROS Version here)

3. Which SBC(Single Board Computer) is working on TurtleBot3?

   • [ ] Intel Joule 570x
   • [ ] Raspberry Pi 3B+
   • [o] Raspberry Pi 4
   • [ ] etc (Please specify your SBC here)

4. Which OS you installed on SBC?

   • [ ] Raspbian distributed by ROBOTIS
   • [o] Ubuntu MATE (16.04/18.04/20.04)
   • [ ] Ubuntu preinstalled server (18.04/20.04)
   • [ ] etc (Please specify your OS here)

5. Which OS you installed on Remote PC?

   • [ ] Ubuntu 16.04 LTS (Xenial Xerus)
   • [ ] Ubuntu 18.04 LTS (Bionic Beaver)
   • [o] Ubuntu 20.04 LTS (Focal Fossa)
   • [ ] Windows 10
   • [ ] MAC OS X (Specify version)
   • [ ] etc (Please specify your OS here)

6. Specify the software and firmware version(Can be found from Bringup messages)

   • Software version: [x.x.x]
   • Firmware version: [x.x.x]

7. Specify the commands or instructions to reproduce the issue.

   • HERE

8. Copy and Paste the error messages on terminal.

   • HERE

9. Please describe the issue in detail.

As shown in e_manual, I connected sonar to opencr and checked sensor_state topic after bringing up turtlebot3, but the sonar data value does not change from 0.0. Sonar data value doesn't seem to be updated, so I wonder what I should do to use Sonar.

[ROBOTIS-Will]

Hi @ncncmc

You might want to refer to the thread #757 Thank you.