Hi Tan Zhi Ping,
in the p2os_driver there're some useful parameter that you can set.
The simplest way to do that (in my opinion) is use a launch file. See the
following:

 <node name="p2os_driver" pkg="p2os_driver" type="p2os" respawn="false"
output="screen" >
    
    
  </node>

In this way I'm using the ttyUSB0 devices instead the serial connection
(ttyS0, used as default) and I shutdown sonars.

Best Regards,
Enea Scioni
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