The first example ([UWSim](http://uji-ros-pkg/underwater_simulation/blob/kinetic-devel/underwater_sensor_msgs/msg/DVL.msg)) is a very specific DVL message for an RDI DVL while the second ([uuv_simulator](http://uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_plugins_ros_msgs/msg/DVL.msg)) for me is more generic. The only problem that I see with the second is that most of DVL sensors can provide measurements wrt. sea bottom or/and wrt. water. However, changing the _velocity_covariance_ or publishing two topics (one for bottom and another for water measurements) will be enough. We could start the discussion using the ([uuv_simulator](http://uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_plugins_ros_msgs/msg/DVL.msg)) as a base. For the Side Scan Sonar, and example can be found at [SSS msg](https://bitbucket.org/udg_cirs/cola2_core/src/0ca1b8248790214ab21d3336bd1161b82b095a22/cola2_msgs/msg/ImagenexSSS.msg?at=master&fileviewer=file-view-default). --- [Visit Topic](https://discourse.ros.org/t/common-message-structures-for-uuvs/3737/4) 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: