Can I rely on the navigation tutorials when working with sonar?

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Okay thank you so much!! I will try it out and let you know....thank you!

So I need to follow and use those parameters and write my own code? Right? So can it be in python? Please correct me if I am wrong.

yes, you can use python. what you have to do is to get the raw info from your sonar, use it to populate your range message and publish it. by doing that you will have a node that will publish your sonar data as a ros topic, which can be used by many other nodes.

@Humpelstilzchen post is very useful on what you can do after having that topic and effectively using it for navigation.

But are there some detailed guide on how to populate the range and publish it? Or can you tell a little? It would help a lot.

you can get the idea of how to populate a ros message from the tutorial you mentioned in your question.

So I can use any editor and write the code, then save it in my catkin workspace under sensor_msgs and then include it in the launch file that would populate the message and send it over Ros. Right?

no, that's not the way. forget about ros for a while. what you need is a code that will get the data from a sensor, using whatever means you have available, and populate a message structure and publish it. i suggest you go back to more basic tutorials before advancing on this issue.

Okay thank you so much!! I will try it out and let you know....thank you!

U mean I should not use gmapping package? Then what shall I use in order to make the robot I told earlier?

gmapping is to record a map from Laserscan, without one you can only manually paint one.

Okok...so in that case I need to use something like lnkspace?

Lnkscape* are there any tutorials on it?

Inkscape was just an example, just use your favorite painting program to draw the lines for the walls etc. But thats the least of your problems now, you should focus on the other parts, e.g. publishing sonar data first.

Ohh...okay..