Hi @ivaughn. I agree that there are plenty of messages that can be defined for the underwater robotics community. However, defining messages is the tip of the iceberg! For instance, I agree that a better multibeam message could be defined, however, to see the multibeam data in reat time using a laserscan message is already done but if a new message is defined this functionality must be reimplemented. What I want to say is that maybe, and only maybe, a good solution can be to add the very basic messages in the _sensor_msgs_ package as soos as possible, and have a deeper discussion about all the rest. We are also interested in most of the message that you propose. I put a list of them and our current implementacion FYI: * DVL (custom) * depth (sensor_msgs/FluidPressure) * Sidescan Sonar (custom) * Multibeam Sonar (sensor_msgs/laser scan) * inertial navigation system (sensor_msgs/IMU + nav_msgs/Odometry + ...) * One- and two-way travel-time measurement (custom) * USBL fixes (geometry_msgs/PoseWithCovarianceStamped) * CTD (custom) * sound velocity (custom) * water-column measurement (custom) * Battery System (sensor_msgs/BatteryState) * Cameras (sensor_msgs/CameraInfo) * GPS (sensor_msgs/NavSatFix) * ... --- [Visit Topic](https://discourse.ros.org/t/common-message-structures-for-uuvs/3737/7) 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: