## Build & Run

```bash
docker compose build
docker compose up
```

## Topic

- `/ultrasonic/raw_data` (`std_msgs/UInt8MultiArray`)

## Parameters

| Parameter | Default | Description |
|-----------|---------|-------------|
| `serial_port` | `/dev/ttyUSB0` | Serial port path |
| `baudrate` | `38400` | Baud rate |

## Custom Parameters

```bash
ros2 run ultrasonic_sensor ultrasonic_node --ros-args -p serial_port:=/dev/ttyACM0
```