Hi @musamarcusso, I think that most of the sensor related messages that the underwater community uses are covered by the _sensor_msgs_ package except for very specific ones like the DVL, the Side Scan Sonar or the USBL. I don't know any other standard repository specific for underwater sensors, but I think that if we have to define only few new messages, we can add them directly in the _sensor_msgs_ package. For me, the most prioritary messages are the DVL and the Side Scan Sonar. For the Multibeam we can always use a LaserScan msg. Which messages you think we should start with? --- [Visit Topic](https://discourse.ros.org/t/common-message-structures-for-uuvs/3737/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: