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Sonar format [writelog] The format for each sonar message is: pose_count (int): number of sonar poses to follow list of tranducer poses; for each pose: x (float): relative X position of transducer, in meters y (float): relative Y position of transducer, in meters a (float): relative yaw orientation of transducer, in radians range_count (int): number range values to follow list of readings; for each reading: range (float): in meters