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Well I figured out the checksum part of the issue. I was using frameid for both my tf broadcaster and the range_msg frame header id's. When I changed frameid to odom for the broadcaster it cleared it up.

I am still getting the "Serial Port read returned short" error

Well I figured out the checksum part of the issue. I was using frameid for both my tf broadcaster and the range_msg frame header id's. When I changed frameid to odom for the broadcaster it cleared it up.

I am still getting the "Serial Port read returned short" error

Edit: It appears the new ping library is what is causing the issue. If I use the function from the example it works just fine