Hi @narcispr, both DVL and side scan sonar messages could be proposed to the common_msgs repository if we find some examples. You mentioned for DVL these links below, but it would be good to know what is used to narrow down to one solution. https://github.com/uji-ros-pkg/underwater_simulation/blob/kinetic-devel/underwater_sensor_msgs/msg/DVL.msg https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_plugins_ros_msgs/msg/DVL.msg --- [Visit Topic](https://discourse.ros.org/t/common-message-structures-for-uuvs/3737/3) 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: