Hi! I'm interested in this group too. We (university of Girona) have been developing an open source architecture for underwater vehicles for some time named [COLA2](
https://bitbucket.org/udg_cirs/cola2_core/wiki/Home). Right now I've just started an issue in the **common_msgs** package to include a standard DVL message in ROS (see [issue](
https://github.com/ros/common_msgs/issues/116)). Please, join the discussion (here or there, I don'y know what is better).
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