GREAT INTEGRATION

.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Binaries
+*.npz
+
+# PyCharm
+.idea/
+CMakeLists.txt
+
+# Other
+*.mtl
+*.obj
+!transdec.obj
+
+*.dic
+pedometry.txt
+.DS_STORE
+# Autosave files from QtCreator
+*.autosave
+*~
+
+# Vim swaps
+*.swp

drivers/mil_passive_sonar/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(mil_passive_sonar)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+)
+
+catkin_python_setup()
+
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES sub8_sonar
+#  CATKIN_DEPENDS rospy
+#  DEPENDS system_lib
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)

drivers/mil_passive_sonar/README.md

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+# Sonar Driver
+
+This script interfaces with Jake's sonar board and provides a ROS service that returns the location and time of emission of the last heard pinger pulse.
+
+## How to run and use
+To start the driver, run:
+
+    rosrun mil_passive_sonar sonar.launch
+
+> Note: make sure that port, and baud rate, and hydrophone locations are loaded into the parameter server. See launch/test.launch for an example.
+
+In order to ask for hydrophone information:
+
+    rosservice call /sonar/get_pinger_pulse *double_tab*
+
+The service should respond with the x, y, and z of the last heard pinger
+pulse. Remember that this should be considered the tip of an arrow
+pointing in the direction of the pinger, the range is completely unreliable
+and varies wildly.
+
+## TODO
++ This package is not yet fully set up to use the paulbaurd. The interface to make this happen would be simple to implement.
++ This package should estimate the least squares solution for the actual 3d position of the pinger.
++ Visualize both individual heading veactors and the LS position estimate.

drivers/mil_passive_sonar/launch/test.launch

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+<launch>
+    <node pkg="mil_passsive_sonar" type="sonar_test.py" name="sonar_test" output="screen">
+        <!-- units in millimeters for greater accuracy -->
+        <!-- current configuration -->
+<!--         <rosparam param="hydrophones">
+            {   hydro0: {x:       0, y:       0, z:      0},
+                hydro1: {x:   -25.4, y:       0, z:   25.4},
+                hydro2: {x:    25.4, y:       0, z:      0},
+                hydro3: {x:       0, y:   -25.4, z:      0} }
+        </rosparam> -->
+        <!-- Forrest's sugested configuration -->
+        <rosparam param="hydrophones">
+            {   hydro0: {x:       0, y:       0, z: 0},
+                hydro1: {x:       0, y:    25.4, z: 0},
+                hydro2: {x:     -22, y:   -12.7, z: 0},
+                hydro3: {x:      22, y:   -12.7, z: 0}}
+        </rosparam>
+    </node>
+</launch>