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Hi, I'm facing a very similar issue, where the sonar always reads 0.0, then a few sequences later it does spit out a proper range. This is running ROS on noetic though.

Here is a good approach to troubleshoot the issue: 1. Assuming you're using the OpenCR 1.0 board. Connect it directly to development PC via USB (make sure it is a data-USB cable and not just charging). 2. Load the Arduino example file for Sonar found under: Examples -> ROS -> 02. Sensors -> c_Ultrasonic Open Serial Terminal and check the sonar sensors works as expected. If not troubleshoot your wiring / example program config. 3. modify the turtlebot3 program (I used turtlebot3_core). In the turtlebot3_core.ino around line 144 make sure to uncomment the

  // TODO
  // Update sonar data
  // sensors.updateSonar(t);

After that it should work. Well at least intermittent as in my case. I'm still working on getting that resolved. I hope this will help someone and I will update if I find out more

Hi, I'm facing a very similar issue, where the sonar always reads 0.0, then a few sequences later it does spit out a proper range. This is running ROS on noetic though.

Here is a good approach to troubleshoot the issue: 1. issue:

1. Assuming you're using the OpenCR 1.0 board. Connect it directly to development PC via USB (make sure it is a data-USB cable and not just charging). 2. charging).

2. Load the Arduino example file for Sonar found under: Examples -> ROS -> 02. Sensors -> c_Ultrasonic Open Serial Terminal and check the sonar sensors works as expected. If not troubleshoot your wiring / example program config. 3. config.

3. modify the turtlebot3 program (I used turtlebot3_core). In the turtlebot3_core.ino around line 144 make sure to uncomment the

    
   // TODO
     // Update sonar data
     // sensors.updateSonar(t);
   

   sensors.updateSonar(t);

After that it should work. Well at least intermittent as in my case. I'm still working on getting that resolved. I hope this will help someone and I will update if I find out more

Hi, I'm facing a very similar issue, where the sonar always reads 0.0, then a few sequences later it does spit out a proper range. This is running ROS on noetic though.

Here is a good approach to troubleshoot the issue:

1. Assuming you're using the OpenCR 1.0 board. Connect it directly to development PC via USB (make sure it is a data-USB cable and not just charging).

2. Load the Arduino example file for Sonar found under: Examples -> ROS -> 02. Sensors -> c_Ultrasonic Open Serial Terminal and check the sonar sensors works as expected. If not troubleshoot your wiring / example program config.

3. modify the turtlebot3 program (I used turtlebot3_core). In the turtlebot3_core.ino around line 144 make sure to uncomment the

   // TODO TODO
   // Update sonar data data
   // sensors.updateSonar(t);

After that it should work. Well at least intermittent as in my case. I'm still working on getting that resolved. I hope this will help someone and I will update if I find out more