Intro

The sonar image is converted to LaserScan

Early Testing/Visualization

Publish a fake LaserScan with 100 points at 5 meters continuously at 10 Hz

        ros2 topic pub -r 10 /nekton/sonar_forward sensor_msgs/msg/LaserScan "{
  header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'sonar_forward'},
  angle_min: -0.3927,
  angle_max: 0.3927,
  angle_increment: 0.0079,
  range_min: 1.0,
  range_max: 10.0,
  ranges: $(python3 -c 'print([5.0]*100)'),
  intensities: $(python3 -c 'print([1.0]*100)')
}"

description

description