Noetic compatible

README.md

@@ -9,7 +9,7 @@
 [![All Contributors](https://img.shields.io/badge/all_contributors-1-orange.svg?style=flat-square)](#contributors-)
 ## Overview
 
-A python ROS package for the [BlueRobotics] [Ping360] Sonar. The package has been tested under [ROS] melodic and Ubuntu 16.04. This code is mostly experimental, expect that it changes often.
+A python ROS package for the [BlueRobotics] [Ping360] Sonar. The package has been tested under [ROS] melodic under Ubuntu 16.04 and noetic under Unbuntu 20.04. This code is mostly experimental, expect that it changes often.
 
 **Keywords:** ROS, package, ping360, ping360 emulator
 
@@ -42,7 +42,7 @@ Before building from source, install [ping-protocol python lib](https://pypi.org
 To build from source, clone the latest version from this repository into your catkin workspace and compile the package using
 
 	cd catkin_workspace/src
-	git clone https://github.com/CentraleNantesRobotics/ping360_sonar.git
+	git clone -b master https://github.com/CentraleNantesRobotics/ping360_sonar.git
 	cd ../
 	catkin build
 

src/ping360_sonar/__init__.py

@@ -1,4 +1,4 @@
-from node import main
+from .node import main
 from brping.definitions import *
 from brping.pingmessage import *
 from brping.device import PingDevice

src/ping360_sonar/node.py

@@ -5,14 +5,15 @@
 import numpy as np
 import rospy
 
+import cv2
 from cv_bridge import CvBridge, CvBridgeError
 from dynamic_reconfigure.server import Server
 from sensor_msgs.msg import Image
 from sensor_msgs.msg import LaserScan
 
 from ping360_sonar.cfg import sonarConfig
 from ping360_sonar.msg import SonarEcho
-from sensor import Ping360
+from .sensor import Ping360
 
 # Global Variables
 

src/ping360_sonar/sensor.py

@@ -4,7 +4,7 @@
 # A device API for the Blue Robotics Ping360 scanning sonar
 
 from brping import definitions
-from device import PingDevice
+from .device import PingDevice
 from brping import pingmessage
 import serial
 import time
@@ -111,8 +111,8 @@ def control_transducer(self, mode, gain_setting, angle, transmit_duration,
         m.mode = mode
         m.gain_setting = gain_setting
         m.angle = angle
-        m.transmit_duration = transmit_duration
-        m.sample_period = sample_period
+        m.transmit_duration = int(round(transmit_duration))
+        m.sample_period = int(round(sample_period))
         m.transmit_frequency = transmit_frequency
         m.number_of_samples = number_of_samples
         m.transmit = transmit