In the following video you can see one of the first test of the integration of the Ultrasonic Bumper with the ROS framework.
The test verifies the response time of two sensors mounted on the front panel of MyzharBot-v4. The ros_ultrasonic_bumper node acquires the ranges from the two sensors and publishes the relative message that is acquired by rqt_plot and displayed in real time.
The firmware running on the STm32F303K8 Nucleo32 board is available on Github:
The software of the ROS node to acquire data from the board is available on Github: