The main task of this paper is to explain the work of sonar and show its performance in practical work. The paper consists of 3 main chapters. The first chapter deals with the physical principles of sonar and the implementation of an actual ultrasonic sensor in ROS. The second subchapter of this chapter explains the physical principles and possible effects on the sensor. The third subchapter shows the sensor we used in this paper as well as the available software. We also explained the algorithm and its possible problems and solutions. At the end of this chapter, we see through actual experiments which parameters exist and how they can be used to eliminate possible adverse effects on the sensor. The second chapter briefly discusses inverse kinematics since it is important to understand the goal and problem of inverse kinematics for robot hand manipulation. The second subchapter of this chapter explains the implementation of the program for planning and initiating the position of the manipulator.MoveIt was used, which allows easy installation and configuration, and allows visualization in Gazebo or RViz. It shows what theinstallation and visualization of the Jaco robotic arm in RViz looks like using MoveIt. The third chapter presents the result where we used an ultrasonic sensor to get the location of the object and what it looks like in ROS and where we visualized the movement and planning of the robot or the robotic arm.