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Hi, we added both an IR ring and a sonar ring to the turtlebot. Code for the sonar ring using and Arduino Mega can be found here. I use Bosch drivers to interface with arduino. There's also code to read Sharp IR (is basically the same, apart that the sonars need to be triggered). And 3D models to nicely mount a ring on the TB2 can be downloaded here

Hope this helps.

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