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?