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Summary of the comments: To use the Pi's GPIO in ROS, you have to use a third party library, for example wiringPi (C++) or RPi.GPIO (Python). Both examples support interrupts (examples: wiringPi, RPi.GPIO), which you need to measure the time the sound signal of your HC-SR04 needs to travel to an object and back to the sensor.
Alternatively, there's a driver for the Raspberry Pi and the HC-SR04 here (Github). I have never used this driver, so I cannot say if it works or not.
Also think about the fact, that the default Raspbian is not a realtime operating system. The measured times are not consistent and may vary depending on the Pi's CPU load. You should test the variation in your system before trusting any measurements.
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