Revision history [back]

Short answer: yes, you can!

In Ros, the navigation packages requires a costmap to work. This costmap can be built using different sensors, as LIDARs, RGBD cams, infrareds, sonars, etc... The sensor of choice will affect the quality of your costmap and therefore, the quality of your navigation.

If you need to create your own driver for your ultrasound sensor, you need to populate and publish a range message. I believe you can follow the mentioned tutorial to get an idea on how to construct and populate a message, but changing the type from LaserScan to a Range message.