[ros-users] sonar data for navigation stack

Hi
I am looking to establish navigation stack on pioneer3dx. For it I am hoping
to generate a point cloud from sonar array readings and follow tutorial
further.
Currently p2os driver is interacting with 3dx robo and is publishing sonar
data.

The Query I have is "sonar ranges published by p2os are distance from sonar
grid or from some central point?"
Is there any prebuilt package which I can use for this purpose?

thank you
nitin
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