diff --git a/examples/dave_demo_launch/launch/dave_integrated_demo.launch b/examples/dave_demo_launch/launch/dave_integrated_demo.launch
new file mode 100644
index 00000000..c2f989e8
--- /dev/null
+++ b/examples/dave_demo_launch/launch/dave_integrated_demo.launch
@@ -0,0 +1,62 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/examples/dave_demo_launch/launch/dave_integrated_demo_multibeam_sonar.launch b/examples/dave_demo_launch/launch/dave_integrated_demo_multibeam_sonar.launch
new file mode 100644
index 00000000..2a688256
--- /dev/null
+++ b/examples/dave_demo_launch/launch/dave_integrated_demo_multibeam_sonar.launch
@@ -0,0 +1,90 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
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+
+
+
+
+
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+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/models/dave_object_models/models/SantoriniScaled/model.config b/models/dave_object_models/models/SantoriniScaled/model.config
new file mode 100644
index 00000000..ed29c484
--- /dev/null
+++ b/models/dave_object_models/models/SantoriniScaled/model.config
@@ -0,0 +1,21 @@
+
+
+
+ SantoriniScaled
+ 1.0
+ model.sdf
+
+
+ M. Jakuba
+ mjakuba@whoi.edu
+ Woensug Choi
+ woensug.choi@gmail.com
+
+
+
+
+
+ Simplified topography/bathymetry in the region embedded in the model name. Coordinates are EPSG:3857(UTM).
+ https://github.com/Field-Robotics-Lab/Bathymetry_Converter for https://github.com/Field-Robotics-Lab/dave
+
+
diff --git a/models/dave_object_models/models/SantoriniScaled/model.sdf b/models/dave_object_models/models/SantoriniScaled/model.sdf
new file mode 100644
index 00000000..514f8e58
--- /dev/null
+++ b/models/dave_object_models/models/SantoriniScaled/model.sdf
@@ -0,0 +1,42 @@
+
+
+
+ true
+ 0 0 0 0 0 0
+
+ false
+
+
+
+
+
+ model://Santorini/mesh/Santorini.R_25.317_25.489_36.337_36.479.epsg3857.obj
+ 0.05 0.05 0.1
+
+
+
+
+
+ 0.6 0.6 0.6 1.0
+
+
+
+
+
+
+ model://Santorini/mesh/Santorini.R_25.317_25.489_36.337_36.479.epsg3857.obj
+ 0.05 0.05 0.1
+
+
+
+
+ 0xffff
+
+
+
+
+
+
diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world
new file mode 100644
index 00000000..39e5d1f4
--- /dev/null
+++ b/models/dave_worlds/worlds/dave_integrated.world
@@ -0,0 +1,254 @@
+
+
+
+
+
+
+
+ 0.002
+ 1
+ 500
+
+
+ 0.01 0.01 0.01 1.0
+
+
+ 12
+
+
+ 1
+
+
+
+
+ 56.71897669633431
+ 3.515625
+
+
+
+
+ 50 0 150 0 0 0
+ 1 1 1 1
+ .1 .1 .1 1
+ 0.3 0.3 -1
+ false
+
+
+
+
+ -50 0 -150 0 0 0
+ 0.6 0.6 0.6 1
+ 0 0 0 1
+ -0.3 -0.3 -1
+ false
+
+
+
+ -100 500 -20 0 0 0
+ 0.8 0.8 0.8 1
+ 1 1 1 1
+ -1 -1 0
+ false
+
+
+
+ -150 -130 50 0 0 0
+ 0.6 0.6 0.6 1
+ 0.2 0.2 0.2 1
+ 0.5 0.5 -1
+ false
+
+
+
+
+ model://ned_frame
+ 0 0 0 0 0 0
+
+
+
+
+ true
+
+
+
+ 0 0 0 0 0 0
+ false
+
+
+ file://Media/models/sea_surface_1000m_x_1000m.dae
+ 2 2 2
+
+
+
+
+
+
+
+
+ 0 0 0 3.14 0 0
+ false
+
+
+ file://Media/models/sea_surface_1000m_x_1000m.dae
+ 2 2 2
+
+
+
+
+
+
+
+
+
+
+
+ model://SantoriniScaled
+ 0 0 -120.0 0 0 0
+
+
+
+ hydrodynamics
+
+ current_velocity
+
+ 0
+ 0
+ 5
+ 0.0
+ 0.0
+
+
+
+ 0
+ -3.141592653589793238
+ 3.141592653589793238
+ 0.0
+ 0.0
+
+
+
+ 0
+ -3.141592653589793238
+ 3.141592653589793238
+ 0.0
+ 0.0
+
+
+
+
+
+
+
+
+ model://plug
+ 40 -18 -110 0 -1.5707963267948966 0
+
+
+
+ true
+ 40 -18 -110 0 0 0
+
+
+
+
+ 1 1 0.2
+
+
+
+
+
+
+
+ 1 1 0.2
+
+
+
+
+
+
+
+ model://socket_box
+ 35 -20 -119 0 0 0
+
+
+
+ wamv::base_link
+ vrx/dock_2018/bay_1_external
+ 35 -10 -110 0 0 0
+
+
+ 8 1.5 2
+
+
+
+
+
+
+ 14.0 -26.0 -110.0 0.0 0.25 0.53
+ orbit
+ perspective
+
+
+
+
+
+
+ torpedo_mk46
+ 27 -16 -115 0 0 0
+ model://torpedo_mk46
+
+
+
+ sonobuoy
+ 23 -14 -115 0 0 0
+ model://sonobuoy
+
+
+
+ flight_data_recorder
+ 26 -17 -115 0 0 0
+ model://flight_data_recorder
+
+
+
+ uxo_a
+ 24 -15 -115 0 0 0
+ model://uxo_a
+
+
+
+ uxo_b
+ 26 -18 -115 0 0 0
+ model://uxo_b
+
+
+
+ uxo_c
+ 27 -17 -117 0 0 0
+ model://uxo_c
+
+
+
+
\ No newline at end of file
diff --git a/urdf/robots/rexrov_description/launch/upload_rexrov_oberon7_multibeam_sonar.launch b/urdf/robots/rexrov_description/launch/upload_rexrov_oberon7_multibeam_sonar.launch
new file mode 100644
index 00000000..b1d1d292
--- /dev/null
+++ b/urdf/robots/rexrov_description/launch/upload_rexrov_oberon7_multibeam_sonar.launch
@@ -0,0 +1,85 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1
+
+
+
+ [oberon7,]
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/urdf/robots/rexrov_description/urdf/rexrov_oberon7_multibeam_sonar.xacro b/urdf/robots/rexrov_description/urdf/rexrov_oberon7_multibeam_sonar.xacro
new file mode 100644
index 00000000..497b4db4
--- /dev/null
+++ b/urdf/robots/rexrov_description/urdf/rexrov_oberon7_multibeam_sonar.xacro
@@ -0,0 +1,101 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1028.0
+ hydrodynamics/current_velocity
+ $(arg debug)
+
+
+
+
+
+
+
+
+
+
+
+
+
+ /$(arg namespace)
+ /$(arg namespace)/robot_description
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+