Details on the sonar model implemented

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Hi,

Is there any reference with respect the sonar model implemented in the range_sensor_layer? I couldn't find it in the ROS wiki nor in the github.

I'm considering adding some sonars to my robot in order to detect mirrors and crystals, that can't be detected with the laser range finder. But in order to keep the actual navigation performances I'd like to know whici model is being used to use this plugin or look for another solution.

Thank you.

Víctor.