fastrobotics · dgitz · Mar 20, 2025 · Mar 19, 2025 · Mar 19, 2025 · Mar 19, 2025
diff --git a/Lexicon.md b/Lexicon.md
@@ -74,7 +74,7 @@ _Summary_:Typically used in this project when referring to a ROS Node.
 
 _Related Terms_:
 
-_Example_: [Sonar Array Node](nodes/SonarArrayNode/)
+_Example_: [Sonar Array Node](nodes/SonarArrayDriverNode/)
 
 | References |
 | --- |

diff --git a/doc/Development/rviz.rviz b/doc/Development/rviz.rviz
@@ -8,7 +8,6 @@ Panels:
         - /Status1
         - /Grid1
         - /Range1
-        - /Range1/Status1
       Splitter Ratio: 0.5
     Tree Height: 719
   - Class: rviz/Selection
@@ -60,7 +59,7 @@ Visualization Manager:
       Color: 252; 233; 79
       Enabled: true
       Name: Range
-      Queue Size: 10
+      Queue Size: 20
       Topic: /robot/sonar
       Unreliable: false
       Value: true
@@ -108,9 +107,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.6803983449935913
+      Pitch: -0.024601440876722336
       Target Frame: <Fixed Frame>
-      Yaw: 1.220400333404541
+      Yaw: 1.1404004096984863
     Saved: ~
 Window Geometry:
   Displays:

diff --git a/doc/Nodes/Nodes.md b/doc/Nodes/Nodes.md
@@ -2,4 +2,4 @@
 # Nodes
 | Status | Node |
 | --- | --- |
-| STARTED | [Sonar Array Node](SonarArrayNode/SonarArrayNode.md) |
+| STARTED | [Sonar Array Node](SonarArrayDriverNode/SonarArrayDriverNode.md) |
diff --git a/doc/Nodes/SonarArrayNode/SonarArrayNode.md b/doc/Nodes/SonarArrayNode/SonarArrayNode.md
@@ -41,9 +41,9 @@ Examples:
 ## Software Design
 ### Class Diagrams
 ![](../../output/Legend.png)
-![](../../../nodes/SonarArrayNode/driver/doc/output/SonarArrayNodeDriverClassDiagram.png)
-![](../../../nodes/SonarArrayNode/doc/output/SonarArrayNodeClassDiagram.png)
+![](../../../nodes/SonarArrayDriverNode/driver/doc/output/SonarArrayNodeDriverClassDiagram.png)
+![](../../../nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeClassDiagram.png)
 
 ### Sequence Diagrams
-![](../../../nodes/SonarArrayNode/driver/doc/output/SonarArrayNodeDriverSequenceDiagram.png)
-![](../../../nodes/SonarArrayNode/doc/output/SonarArrayNodeSequenceDiagram.png)
+![](../../../nodes/SonarArrayDriverNode/driver/doc/output/SonarArrayNodeDriverSequenceDiagram.png)
+![](../../../nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeSequenceDiagram.png)
diff --git a/doc/SonarArrayPackageDiagram.puml b/doc/SonarArrayPackageDiagram.puml
@@ -2,9 +2,9 @@
 title Sonar Array Package Diagram
 
 package sonar_array {
-    class SonarArrayNode #Yellow
-    class SonarArrayNodeDriver #Yellow
-    SonarArrayNode --> SonarArrayNodeDriver
+    class SonarArrayDriverNode <<ROS>> #Orange
+    class SonarArrayNodeDriver #Orange
+    SonarArrayDriverNode --> SonarArrayNodeDriver
 }
 
 @enduml
diff --git a/doc/output/SonarArrayPackageDiagram.png b/doc/output/SonarArrayPackageDiagram.png
diff --git a/nodes/SonarArrayNode/CMakeLists.txt → nodes/SonarArrayDriverNode/CMakeLists.txt b/nodes/SonarArrayNode/CMakeLists.txt → nodes/SonarArrayDriverNode/CMakeLists.txt
diff --git a/...yNode/doc/SonarArrayNodeClassDiagram.puml → ...doc/SonarArrayDriverNodeClassDiagram.puml b/...yNode/doc/SonarArrayNodeClassDiagram.puml → ...doc/SonarArrayDriverNodeClassDiagram.puml
@@ -1,5 +1,5 @@
 @startuml
-title Sonar Array Node Class Diagram
+title Sonar Array Driver Node Class Diagram
 package ros {
   class Publisher
 }
@@ -11,7 +11,7 @@ package sensor_msgs {
     class Range <<(M,#FFFF00)>>
 }
 package sonar_array {
-  class SonarArrayNode  {
+  class SonarArrayDriverNode <<ROS>> #Orange {
       +const std::string BASE_NODE_NAME
       +const uint16_t MAJOR_RELEASE_VERSION
       +const uint16_t MINOR_RELEASE_VERSION
@@ -20,7 +20,7 @@ package sonar_array {
       +const eros::System::MainSystem DIAGNOSTIC_SYSTEM
       +const eros::System::SubSystem DIAGNOSTIC_SUBSYSTEM
       +const eros::System::Component DIAGNOSTIC_COMPONENT
-      +SonarArrayNodeProcess* get_process()
+      +SonarArrayDriverNodeProcess* get_process()
       +bool start()
       +eros::eros_diagnostic::Diagnostic finish_initialization()
       +bool run_loop1()
@@ -37,22 +37,26 @@ package sonar_array {
       +system_commandAction_Callback(const eros::system_commandGoalConstPtr& goal)
       +command_Callback(const eros::command::ConstPtr& t_msg)
 
-      -SonarArrayNodeProcess* process;
+      -SonarArrayDriverNodeProcess* process;
   }
-  class SonarArrayNodeProcess  {
+  class SonarArrayDriverNodeProcess #Orange {
       +eros::eros_diagnostic::Diagnostic finish_initialization()
       +reset()
       +eros::eros_diagnostic::Diagnostic update(double t_dt, double t_ros_time)
       +std::vector<eros::eros_diagnostic::Diagnostic> new_commandmsg(eros::command msg)
       +std::vector<eros::eros_diagnostic::Diagnostic> check_programvariables()
       +cleanup()
-      -SonarArrayNodeDriver driver
+      -ISonarArrayNodeDriver driver
 
   }
+  class ISonarArrayNodeDriver #LimeGreen 
   class SonarArrayNodeDriver #LimeGreen 
-  BaseNode <|-- SonarArrayNode
-  BaseNodeProcess <|-- SonarArrayNodeProcess
-  SonarArrayNode -> SonarArrayNodeProcess
-  SonarArrayNodeProcess -> SonarArrayNodeDriver
+  class MockSonarArrayNodeDriver #LimeGreen 
+  BaseNode <|-- SonarArrayDriverNode
+  BaseNodeProcess <|-- SonarArrayDriverNodeProcess
+  SonarArrayDriverNode -> SonarArrayDriverNodeProcess
+  SonarArrayDriverNodeProcess --> ISonarArrayNodeDriver
+  ISonarArrayNodeDriver <|-- SonarArrayNodeDriver
+  ISonarArrayNodeDriver <|-- MockSonarArrayNodeDriver
 }
 @enduml
diff --git a/...de/doc/SonarArrayNodeSequenceDiagram.puml → .../SonarArrayDriverNodeSequenceDiagram.puml b/...de/doc/SonarArrayNodeSequenceDiagram.puml → .../SonarArrayDriverNodeSequenceDiagram.puml
@@ -1,16 +1,16 @@
 @startuml
-title Sonar Array Node Sequence Diagram
+title Sonar Array Driver Node Sequence Diagram
 actor User as user
-participant SonarArrayNode as node
-participant SonarArrayNodeProcess as process
+participant SonarArrayDriverNode as node
+participant SonarArrayDriverNodeProcess as process
 participant SonarArrayNodeDriver as driver
 participant Logger as logger
 
 alt initialize
     activate node
     node -> node++: start()
     node -> node: initialize_diagnostic
-    node -> process++: SonarArrayNodeProcess()
+    node -> process++: SonarArrayDriverNodeProcess()
     node -> node: preinitialize_basenode()
     node -> process: enable_diagnostics()
     node -> process++: finish_initialization()
@@ -28,6 +28,15 @@ end
 alt loops
     alt loop1
         node -> node++: run_loop1
+        node -> process++: update(0.02, now)
+        process -> driver++: update(0.02)
+        driver --> process--: diag
+        process --> node--: diag
+        node -> process++: get_sonar_data()
+        process -> driver++: get_sonar_data()
+        driver --> process--: sonar_data
+        process --> node--: sonar_data
+        node --> user: sonardata_pub.publish(sonar_data)
         node--
     end
     alt loop2
@@ -57,9 +66,7 @@ alt loops
         node -> user: publish(latest_diagnostics)
     end
     alt run_10hz
-        node -> process++: update(0.1, now)
-        process -> driver++: update(0.1)
-        driver --> process--
+
 
 
         alt if diag.level >= NOTICE

diff --git a/nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeClassDiagram.png b/nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeClassDiagram.png
diff --git a/nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeSequenceDiagram.png b/nodes/SonarArrayDriverNode/doc/output/SonarArrayDriverNodeSequenceDiagram.png
diff --git a/nodes/SonarArrayNode/driver/CMakeLists.txt → ...onarArrayDriverNode/driver/CMakeLists.txt b/nodes/SonarArrayNode/driver/CMakeLists.txt → ...onarArrayDriverNode/driver/CMakeLists.txt
diff --git a/...r/MockSonarArrayNodeDriver/CMakeLists.txt → ...r/MockSonarArrayNodeDriver/CMakeLists.txt b/...r/MockSonarArrayNodeDriver/CMakeLists.txt → ...r/MockSonarArrayNodeDriver/CMakeLists.txt
diff --git a/...Driver/include/MockSonarArrayNodeDriver.h → ...Driver/include/MockSonarArrayNodeDriver.h b/...Driver/include/MockSonarArrayNodeDriver.h → ...Driver/include/MockSonarArrayNodeDriver.h
diff --git a/...ckSonarArrayNodeDriver/src/CMakeLists.txt → ...ckSonarArrayNodeDriver/src/CMakeLists.txt b/...ckSonarArrayNodeDriver/src/CMakeLists.txt → ...ckSonarArrayNodeDriver/src/CMakeLists.txt
diff --git a/...deDriver/src/MockSonarArrayNodeDriver.cpp → ...deDriver/src/MockSonarArrayNodeDriver.cpp b/...deDriver/src/MockSonarArrayNodeDriver.cpp → ...deDriver/src/MockSonarArrayNodeDriver.cpp
@@ -16,6 +16,12 @@ bool MockSonarArrayNodeDriver::init(eros::eros_diagnostic::Diagnostic _diagnosti
 eros::eros_diagnostic::Diagnostic MockSonarArrayNodeDriver::update(double current_time_sec,
                                                                    double dt) {
     diagnostic = BaseSonarArrayNodeDriver::update(current_time_sec, dt);
+    for (std::size_t i = 0; i < sonars.size(); ++i) {
+        sonars.at(i).range = sonars.at(i).range += 0.001;
+        if (sonars.at(i).range > 2.0) {
+            sonars.at(i).range = 0.0;
+        }
+    }
     return diagnostic;
 }
 std::string MockSonarArrayNodeDriver::pretty(std::string mode) {

diff --git a/...arArrayNodeDriver/src/test/CMakeLists.txt → ...arArrayNodeDriver/src/test/CMakeLists.txt b/...arArrayNodeDriver/src/test/CMakeLists.txt → ...arArrayNodeDriver/src/test/CMakeLists.txt
diff --git a/...rc/test/test_MockSonarArrayNodeDriver.cpp → ...rc/test/test_MockSonarArrayNodeDriver.cpp b/...rc/test/test_MockSonarArrayNodeDriver.cpp → ...rc/test/test_MockSonarArrayNodeDriver.cpp
@@ -11,19 +11,21 @@ TEST(BasicTest, TestDefinitions) {
 }
 TEST(BasicTest, TestOperation) {
     Logger* logger = new Logger("DEBUG", "UnitTestMockSonarArrayNodeDriver");
-    MockSonarArrayNodeDriver SUT;
+    ISonarArrayNodeDriver* SUT = new MockSonarArrayNodeDriver();
     eros::eros_diagnostic::Diagnostic diagnostic;
     std::vector<sensor_msgs::Range> sonars;
-    SUT.init(diagnostic, logger, sonars);
+    sonars.resize(10);
+    SUT->init(diagnostic, logger, sonars);
 
     double timeToRun = 10.0;
     double dt = 0.1;
     double timer = 0.0;
     while (timer <= timeToRun) {
-        auto diagnostic = SUT.update(timer, dt);
+        auto diagnostic = SUT->update(timer, dt);
         EXPECT_TRUE(diagnostic.level <= eros::Level::Type::NOTICE);
+        EXPECT_GT(SUT->get_sonar_data().size(), 0);
 
-        logger->log_debug(SUT.pretty());
+        // logger->log_debug(SUT.pretty());
         timer += dt;
     }
 

diff --git a/...river/SonarArrayNodeDriver/CMakeLists.txt → ...river/SonarArrayNodeDriver/CMakeLists.txt b/...river/SonarArrayNodeDriver/CMakeLists.txt → ...river/SonarArrayNodeDriver/CMakeLists.txt
diff --git a/...ver/include/SonarArrayBoardPacketParser.h → ...ver/include/SonarArrayBoardPacketParser.h b/...ver/include/SonarArrayBoardPacketParser.h → ...ver/include/SonarArrayBoardPacketParser.h
diff --git a/...NodeDriver/include/SonarArrayNodeDriver.h → ...NodeDriver/include/SonarArrayNodeDriver.h b/...NodeDriver/include/SonarArrayNodeDriver.h → ...NodeDriver/include/SonarArrayNodeDriver.h
diff --git a/...r/SonarArrayNodeDriver/src/CMakeLists.txt → ...r/SonarArrayNodeDriver/src/CMakeLists.txt b/...r/SonarArrayNodeDriver/src/CMakeLists.txt → ...r/SonarArrayNodeDriver/src/CMakeLists.txt
diff --git a/...river/src/SonarArrayBoardPacketParser.cpp → ...river/src/SonarArrayBoardPacketParser.cpp b/...river/src/SonarArrayBoardPacketParser.cpp → ...river/src/SonarArrayBoardPacketParser.cpp
diff --git a/...ayNodeDriver/src/SonarArrayNodeDriver.cpp → ...ayNodeDriver/src/SonarArrayNodeDriver.cpp b/...ayNodeDriver/src/SonarArrayNodeDriver.cpp → ...ayNodeDriver/src/SonarArrayNodeDriver.cpp
diff --git a/...arArrayNodeDriver/src/test/CMakeLists.txt → ...arArrayNodeDriver/src/test/CMakeLists.txt b/...arArrayNodeDriver/src/test/CMakeLists.txt → ...arArrayNodeDriver/src/test/CMakeLists.txt
diff --git a/...test/test_SonarArrayBoardPacketParser.cpp → ...test/test_SonarArrayBoardPacketParser.cpp b/...test/test_SonarArrayBoardPacketParser.cpp → ...test/test_SonarArrayBoardPacketParser.cpp
diff --git a/...doc/SonarArrayNodeDriverClassDiagram.puml → ...doc/SonarArrayNodeDriverClassDiagram.puml b/...doc/SonarArrayNodeDriverClassDiagram.puml → ...doc/SonarArrayNodeDriverClassDiagram.puml
diff --git a/.../SonarArrayNodeDriverSequenceDiagram.puml → .../SonarArrayNodeDriverSequenceDiagram.puml b/.../SonarArrayNodeDriverSequenceDiagram.puml → .../SonarArrayNodeDriverSequenceDiagram.puml
diff --git a/...tput/SonarArrayNodeDriverClassDiagram.png → ...tput/SonarArrayNodeDriverClassDiagram.png b/...tput/SonarArrayNodeDriverClassDiagram.png → ...tput/SonarArrayNodeDriverClassDiagram.png
diff --git a/...t/SonarArrayNodeDriverSequenceDiagram.png → ...t/SonarArrayNodeDriverSequenceDiagram.png b/...t/SonarArrayNodeDriverSequenceDiagram.png → ...t/SonarArrayNodeDriverSequenceDiagram.png
diff --git a/...SonarArrayNode/driver/exec/CMakeLists.txt → ...rrayDriverNode/driver/exec/CMakeLists.txt b/...SonarArrayNode/driver/exec/CMakeLists.txt → ...rrayDriverNode/driver/exec/CMakeLists.txt
diff --git a/...driver/exec/exec_SonarArrayNodeDriver.cpp → ...driver/exec/exec_SonarArrayNodeDriver.cpp b/...driver/exec/exec_SonarArrayNodeDriver.cpp → ...driver/exec/exec_SonarArrayNodeDriver.cpp
diff --git a/...driver/include/BaseSonarArrayNodeDriver.h → ...driver/include/BaseSonarArrayNodeDriver.h b/...driver/include/BaseSonarArrayNodeDriver.h → ...driver/include/BaseSonarArrayNodeDriver.h
diff --git a/...de/driver/include/ISonarArrayNodeDriver.h → ...de/driver/include/ISonarArrayNodeDriver.h b/...de/driver/include/ISonarArrayNodeDriver.h → ...de/driver/include/ISonarArrayNodeDriver.h
diff --git a/...e/driver/src/BaseSonarArrayNodeDriver.cpp → ...e/driver/src/BaseSonarArrayNodeDriver.cpp b/...e/driver/src/BaseSonarArrayNodeDriver.cpp → ...e/driver/src/BaseSonarArrayNodeDriver.cpp
diff --git a/.../SonarArrayNode/driver/src/CMakeLists.txt → ...ArrayDriverNode/driver/src/CMakeLists.txt b/.../SonarArrayNode/driver/src/CMakeLists.txt → ...ArrayDriverNode/driver/src/CMakeLists.txt
diff --git a/...rArrayNode/driver/src/test/CMakeLists.txt → ...DriverNode/driver/src/test/CMakeLists.txt b/...rArrayNode/driver/src/test/CMakeLists.txt → ...DriverNode/driver/src/test/CMakeLists.txt
diff --git a/...rc/test/test_baseSonarArrayNodeDriver.cpp → ...rc/test/test_baseSonarArrayNodeDriver.cpp b/...rc/test/test_baseSonarArrayNodeDriver.cpp → ...rc/test/test_baseSonarArrayNodeDriver.cpp
diff --git a/nodes/SonarArrayDriverNode/launch/app_sonar_array.launch b/nodes/SonarArrayDriverNode/launch/app_sonar_array.launch
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<launch>
+<arg name="enable_mock" default="False"/>
+<arg name="robot_namespace" default="/"/>
+<arg name="verbosity_level" default="NOTICE"/> 
+<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find sonar_array)/doc/Development/rviz.rviz"/>
+<node name="sonar_array_driver_node" pkg="sonar_array" type="sonar_array_driver_node"  output="screen" clear_params="true">
+        <param name="enable_mock"               value="$(arg enable_mock)"/>
+        <param name="robot_namespace"           value="$(arg robot_namespace)"/>
+        <param name="startup_delay"             value="0.0"/>
+	<param name="verbosity_level"           value="$(arg verbosity_level)"/>
+        <param name="require_pps_to_start"      value="false"/>    
+        <param name="loop1_rate"                value="50"/> 
+        <param name="loop2_rate"                value="10"/>
+        <param name="loop3_rate"                value="5"/>
+</node>
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar0_broadcaster" args="1 0 0 0 -0.2618 0 sonar_array sonar0" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar1_broadcaster" args="1 0 0 0.314 -0.2618 0 sonar_array sonar1" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar2_broadcaster" args="1 0 0 0.628 -0.2618 0 sonar_array sonar2" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar3_broadcaster" args="1 0 0 .942 -0.2618 0 sonar_array sonar3" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar4_broadcaster" args="1 0 0 1.256 -0.2618 0 sonar_array sonar4" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar5_broadcaster" args="1 0 0 1.57 -0.2618 0 sonar_array sonar5" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar6_broadcaster" args="1 0 0 1.884 -0.2618 0 sonar_array sonar6" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar7_broadcaster" args="1 0 0 2.199 -0.2618 0 sonar_array sonar7" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar8_broadcaster" args="1 0 0 2.513 -0.2618 0 sonar_array sonar8" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar9_broadcaster" args="1 0 0 2.827 -0.2618 0 sonar_array sonar9" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar10_broadcaster" args="1 0 0 3.141 -0.2618 0 sonar_array sonar10" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar11_broadcaster" args="1 0 0 3.455 -0.2618 0 sonar_array sonar11" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar12_broadcaster" args="1 0 0 3.769 -0.2618 0 sonar_array sonar12" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar13_broadcaster" args="1 0 0 4.084 -0.2618 0 sonar_array sonar13" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar14_broadcaster" args="1 0 0 4.398 -0.2618 0 sonar_array sonar14" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar15_broadcaster" args="1 0 0 4.712 -0.2618 0 sonar_array sonar15" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar16_broadcaster" args="1 0 0 5.026 -0.2618 0 sonar_array sonar16" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar17_broadcaster" args="1 0 0 5.34 -0.2618 0 sonar_array sonar17" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar18_broadcaster" args="1 0 0 5.654 -0.2618 0 sonar_array sonar18" />
+<node pkg="tf2_ros" type="static_transform_publisher" name="sonar19_broadcaster" args="1 0 0 5.969 -0.2618 0 sonar_array sonar19" />
+</launch>
diff --git a/...rArrayNode/launch/sonar_array_node.launch → ...ode/launch/sonar_array_driver_node.launch b/...rArrayNode/launch/sonar_array_node.launch → ...ode/launch/sonar_array_driver_node.launch
@@ -1,13 +1,15 @@
 <?xml version="1.0"?>
 <launch>
+<arg name="enable_mock" default="False"/>
 <arg name="robot_namespace" default="/"/>
-<arg name="verbosity_level" default="NOTICE"/> 
-<node name="sonar_array_node" pkg="sonar_array" type="sonar_array_node"  output="screen" clear_params="true">
+<arg name="verbosity_level" default="DEBUG"/> 
+<node name="sonar_array_driver_node" pkg="sonar_array" type="sonar_array_driver_node"  output="screen" clear_params="true">
+        <param name="enable_mock"               value="$(arg enable_mock)"/>
         <param name="robot_namespace"           value="$(arg robot_namespace)"/>
         <param name="startup_delay"             value="0.0"/>
 	<param name="verbosity_level"           value="$(arg verbosity_level)"/>
         <param name="require_pps_to_start"      value="false"/>    
-        <param name="loop1_rate"                value="1"/> 
+        <param name="loop1_rate"                value="50"/> 
         <param name="loop2_rate"                value="10"/>
         <param name="loop3_rate"                value="5"/>
 </node>

diff --git a/nodes/SonarArrayDriverNode/node/CMakeLists.txt b/nodes/SonarArrayDriverNode/node/CMakeLists.txt
@@ -0,0 +1,8 @@
+add_library(sonarArrayDriverNodeProcess SonarArrayDriverNodeProcess.cpp)
+target_link_libraries(sonarArrayDriverNodeProcess ${catkin_LIBRARIES} baseNodeProcess sonarArrayNodeDriver mockSonarArrayNodeDriver)
+
+
+add_executable(sonar_array_driver_node SonarArrayDriverNode.cpp) 
+target_link_libraries(sonar_array_driver_node ${catkin_LIBRARIES} ${Boost_LIBRARIES} sonarArrayDriverNodeProcess baseNode)
+add_dependencies(sonar_array_driver_node ${eros_EXPORTED_TARGETS})
+add_subdirectory(test)