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?
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