Hello everyone!
My name is Davide and I am working for the Department of information Engineering at the University of Padova. Together with the underwater group of my laboratory I developed a new middleware implementation of the rmw interface that enables ROS application to exchange data using acoustic underwater signals.
It interfaces with a protocols stack created by our engineers called DESERT, a complete set of public C++ libraries that extend the NS-MIRACLE simulator to support the design and implementation of underwater networks.
With this tool you can exploit ROS functionalities to control underwater vehicles using wireless modems such as the ones manufactured by EvoLogics and others. I leave the link here with my master’s thesis containing a detailed description of this application, and and another one to get the source code and to read the wiki.
If you like this project, please do leave a 
on the repository. Have a nice day!