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
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