diff --git a/dave_interfaces/CMakeLists.txt b/dave_interfaces/CMakeLists.txt
index 117faaff..0132cdef 100644
--- a/dave_interfaces/CMakeLists.txt
+++ b/dave_interfaces/CMakeLists.txt
@@ -16,6 +16,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/UsblCommand.msg"
   "msg/UsblResponse.msg"
   "msg/Location.msg"
+  "msg/DVL.msg"
+  "msg/DVLBeam.msg"
+  "msg/DVLTarget.msg"
   "srv/SetOriginSphericalCoord.srv"
   "srv/GetOriginSphericalCoord.srv"
   "srv/TransformToSphericalCoord.srv"
diff --git a/dave_interfaces/msg/DVL.msg b/dave_interfaces/msg/DVL.msg
new file mode 100644
index 00000000..53d83473
--- /dev/null
+++ b/dave_interfaces/msg/DVL.msg
@@ -0,0 +1,5 @@
+std_msgs/Header header
+string type
+DVLTarget target
+geometry_msgs/TwistWithCovariance velocity
+DVLBeam[] beams
diff --git a/dave_interfaces/msg/DVLBeam.msg b/dave_interfaces/msg/DVLBeam.msg
new file mode 100644
index 00000000..2f88aedc
--- /dev/null
+++ b/dave_interfaces/msg/DVLBeam.msg
@@ -0,0 +1,5 @@
+int64 id
+string reference
+float64 range
+bool locked
+geometry_msgs/TwistWithCovariance velocity
diff --git a/dave_interfaces/msg/DVLTarget.msg b/dave_interfaces/msg/DVLTarget.msg
new file mode 100644
index 00000000..e4521e72
--- /dev/null
+++ b/dave_interfaces/msg/DVLTarget.msg
@@ -0,0 +1,2 @@
+string type
+float64 range
diff --git a/examples/dave_demos/README.md b/examples/dave_demos/README.md
index 8f6467bd..e913d4c3 100644
--- a/examples/dave_demos/README.md
+++ b/examples/dave_demos/README.md
@@ -13,7 +13,7 @@ To launch a Dave model directly from a Fuel URI, follow these steps:
 2. Launch the model using the specified launch file:
 
    ```bash
-   ros2 launch dave_demos object_in_empty_world.launch.py object_name:='mossy_cinder_block'
+   ros2 launch dave_demos dave_object.launch.py namespace:='mossy_cinder_block' paused:=false
    ```
 
 This method simplifies the process by pulling the model directly from Fuel, ensuring you always have the latest version without needing to manage local files.
@@ -47,7 +47,7 @@ If you prefer to use model files downloaded from Fuel, proceed as follows:
 4. Launch the model using the provided launch file:
 
    ```bash
-   ros2 launch dave_demos sensor_in_empty_world.launch.py sensor_name:='nortek_dvl500_300'
+   ros2 launch dave_demos dave_sensor.launch.py namespace:='nortek_dvl500_300' world_name:=dvl_world paused:=false z:=-30
    ```
 
 This approach gives you more control over the models you use, allowing for offline use and customization. It's especially useful when working in environments with limited internet connectivity or when specific model versions are required.
diff --git a/examples/dave_demos/launch/dave_object.launch.py b/examples/dave_demos/launch/dave_object.launch.py
new file mode 100755
index 00000000..46395a29
--- /dev/null
+++ b/examples/dave_demos/launch/dave_object.launch.py
@@ -0,0 +1,165 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, TextSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.conditions import IfCondition
+from launch_ros.substitutions import FindPackageShare
+
+
+def launch_setup(context, *args, **kwargs):
+    paused = LaunchConfiguration("paused").perform(context)
+    gui = LaunchConfiguration("gui").perform(context)
+    use_sim_time = LaunchConfiguration("use_sim_time").perform(context)
+    headless = LaunchConfiguration("headless").perform(context)
+    verbose = LaunchConfiguration("verbose").perform(context)
+    namespace = LaunchConfiguration("namespace").perform(context)
+    world_name = LaunchConfiguration("world_name").perform(context)
+    x = LaunchConfiguration("x").perform(context)
+    y = LaunchConfiguration("y").perform(context)
+    z = LaunchConfiguration("z").perform(context)
+    roll = LaunchConfiguration("roll").perform(context)
+    pitch = LaunchConfiguration("pitch").perform(context)
+    yaw = LaunchConfiguration("yaw").perform(context)
+    use_ned_frame = LaunchConfiguration("use_ned_frame").perform(context)
+
+    if world_name != "empty.sdf":
+        world_filename = f"{world_name}.world"
+        world_filepath = PathJoinSubstitution(
+            [FindPackageShare("dave_worlds"), "worlds", world_filename]
+        ).perform(context)
+        gz_args = [world_filepath]
+    else:
+        gz_args = [world_name]
+
+    if headless == "true":
+        gz_args.append("-s")
+    if paused == "false":
+        gz_args.append("-r")
+    if verbose == "true":
+        gz_args.append("--verbose")
+
+    gz_args_str = " ".join(gz_args)
+
+    gz_sim_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("ros_gz_sim"),
+                        "launch",
+                        "gz_sim.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments=[
+            ("gz_args", TextSubstitution(text=gz_args_str)),
+        ],
+        condition=IfCondition(gui),
+    )
+
+    object_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("dave_object_models"),
+                        "launch",
+                        "upload_object.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments={
+            "gui": gui,
+            "use_sim_time": use_sim_time,
+            "namespace": namespace,
+            "x": x,
+            "y": y,
+            "z": z,
+            "roll": roll,
+            "pitch": pitch,
+            "yaw": yaw,
+            "use_ned_frame": use_ned_frame,
+        }.items(),
+    )
+
+    return [gz_sim_launch, object_launch]
+
+
+def generate_launch_description():
+
+    args = [
+        DeclareLaunchArgument(
+            "paused",
+            default_value="true",
+            description="Start the simulation paused",
+        ),
+        DeclareLaunchArgument(
+            "gui",
+            default_value="true",
+            description="Flag to enable the gazebo gui",
+        ),
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="true",
+            description="Flag to indicate whether to use simulation time",
+        ),
+        DeclareLaunchArgument(
+            "headless",
+            default_value="false",
+            description="Flag to enable the gazebo headless mode",
+        ),
+        DeclareLaunchArgument(
+            "verbose",
+            default_value="false",
+            description="Enable verbose mode for Gazebo simulation",
+        ),
+        DeclareLaunchArgument(
+            "world_name",
+            default_value="empty.sdf",
+            description="Gazebo world file to launch",
+        ),
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace",
+        ),
+        DeclareLaunchArgument(
+            "x",
+            default_value="0.0",
+            description="Initial x position",
+        ),
+        DeclareLaunchArgument(
+            "y",
+            default_value="0.0",
+            description="Initial y position",
+        ),
+        DeclareLaunchArgument(
+            "z",
+            default_value="0.0",
+            description="Initial z position",
+        ),
+        DeclareLaunchArgument(
+            "roll",
+            default_value="0.0",
+            description="Initial roll angle",
+        ),
+        DeclareLaunchArgument(
+            "pitch",
+            default_value="0.0",
+            description="Initial pitch angle",
+        ),
+        DeclareLaunchArgument(
+            "yaw",
+            default_value="0.0",
+            description="Initial yaw angle",
+        ),
+        DeclareLaunchArgument(
+            "use_ned_frame",
+            default_value="false",
+            description="Flag to indicate whether to use the north-east-down frame",
+        ),
+    ]
+
+    return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/examples/dave_demos/launch/dave_sensor.launch.py b/examples/dave_demos/launch/dave_sensor.launch.py
new file mode 100644
index 00000000..a436aae2
--- /dev/null
+++ b/examples/dave_demos/launch/dave_sensor.launch.py
@@ -0,0 +1,165 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, TextSubstitution
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.conditions import IfCondition
+from launch_ros.substitutions import FindPackageShare
+
+
+def launch_setup(context, *args, **kwargs):
+    paused = LaunchConfiguration("paused").perform(context)
+    gui = LaunchConfiguration("gui").perform(context)
+    use_sim_time = LaunchConfiguration("use_sim_time").perform(context)
+    headless = LaunchConfiguration("headless").perform(context)
+    verbose = LaunchConfiguration("verbose").perform(context)
+    namespace = LaunchConfiguration("namespace").perform(context)
+    world_name = LaunchConfiguration("world_name").perform(context)
+    x = LaunchConfiguration("x").perform(context)
+    y = LaunchConfiguration("y").perform(context)
+    z = LaunchConfiguration("z").perform(context)
+    roll = LaunchConfiguration("roll").perform(context)
+    pitch = LaunchConfiguration("pitch").perform(context)
+    yaw = LaunchConfiguration("yaw").perform(context)
+    use_ned_frame = LaunchConfiguration("use_ned_frame").perform(context)
+
+    if world_name != "empty.sdf":
+        world_filename = f"{world_name}.world"
+        world_filepath = PathJoinSubstitution(
+            [FindPackageShare("dave_worlds"), "worlds", world_filename]
+        ).perform(context)
+        gz_args = [world_filepath]
+    else:
+        gz_args = [world_name]
+
+    if headless == "true":
+        gz_args.append("-s")
+    if paused == "false":
+        gz_args.append("-r")
+    if verbose == "true":
+        gz_args.append("--verbose")
+
+    gz_args_str = " ".join(gz_args)
+
+    gz_sim_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("ros_gz_sim"),
+                        "launch",
+                        "gz_sim.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments=[
+            ("gz_args", TextSubstitution(text=gz_args_str)),
+        ],
+        condition=IfCondition(gui),
+    )
+
+    sensor_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                PathJoinSubstitution(
+                    [
+                        FindPackageShare("dave_sensor_models"),
+                        "launch",
+                        "upload_sensor.launch.py",
+                    ]
+                )
+            ]
+        ),
+        launch_arguments={
+            "gui": gui,
+            "use_sim_time": use_sim_time,
+            "namespace": namespace,
+            "x": x,
+            "y": y,
+            "z": z,
+            "roll": roll,
+            "pitch": pitch,
+            "yaw": yaw,
+            "use_ned_frame": use_ned_frame,
+        }.items(),
+    )
+
+    return [gz_sim_launch, sensor_launch]
+
+
+def generate_launch_description():
+
+    args = [
+        DeclareLaunchArgument(
+            "paused",
+            default_value="true",
+            description="Start the simulation paused",
+        ),
+        DeclareLaunchArgument(
+            "gui",
+            default_value="true",
+            description="Flag to enable the gazebo gui",
+        ),
+        DeclareLaunchArgument(
+            "use_sim_time",
+            default_value="true",
+            description="Flag to indicate whether to use simulation time",
+        ),
+        DeclareLaunchArgument(
+            "headless",
+            default_value="false",
+            description="Flag to enable the gazebo headless mode",
+        ),
+        DeclareLaunchArgument(
+            "verbose",
+            default_value="false",
+            description="Enable verbose mode for Gazebo simulation",
+        ),
+        DeclareLaunchArgument(
+            "world_name",
+            default_value="empty.sdf",
+            description="Gazebo world file to launch",
+        ),
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace",
+        ),
+        DeclareLaunchArgument(
+            "x",
+            default_value="0.0",
+            description="Initial x position",
+        ),
+        DeclareLaunchArgument(
+            "y",
+            default_value="0.0",
+            description="Initial y position",
+        ),
+        DeclareLaunchArgument(
+            "z",
+            default_value="0.0",
+            description="Initial z position",
+        ),
+        DeclareLaunchArgument(
+            "roll",
+            default_value="0.0",
+            description="Initial roll angle",
+        ),
+        DeclareLaunchArgument(
+            "pitch",
+            default_value="0.0",
+            description="Initial pitch angle",
+        ),
+        DeclareLaunchArgument(
+            "yaw",
+            default_value="0.0",
+            description="Initial yaw angle",
+        ),
+        DeclareLaunchArgument(
+            "use_ned_frame",
+            default_value="false",
+            description="Flag to indicate whether to use the north-east-down frame",
+        ),
+    ]
+
+    return LaunchDescription(args + [OpaqueFunction(function=launch_setup)])
diff --git a/examples/dave_demos/launch/object_in_empty_world.launch.py b/examples/dave_demos/launch/object_in_empty_world.launch.py
deleted file mode 100755
index 4636aab1..00000000
--- a/examples/dave_demos/launch/object_in_empty_world.launch.py
+++ /dev/null
@@ -1,79 +0,0 @@
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.conditions import IfCondition
-from launch_ros.substitutions import FindPackageShare
-
-
-def generate_launch_description():
-    use_sim = LaunchConfiguration("use_sim")
-    object_name = LaunchConfiguration("object_name")
-    gazebo_world_file = LaunchConfiguration("gazebo_world_file")
-
-    # Declare the launch arguments with default values
-    args = [
-        DeclareLaunchArgument(
-            "gazebo_world_file",
-            default_value="empty.sdf",
-            description="Gazebo world file to launch",
-        ),
-        DeclareLaunchArgument(
-            "use_sim",
-            default_value="true",
-            description="Flag to indicate whether to use simulation",
-        ),
-        DeclareLaunchArgument(
-            "object_name",
-            default_value="mossy_cinder_block",
-            description="Name of the object model to load",
-        ),
-    ]
-
-    # Include the first launch file
-    gz_sim_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                PathJoinSubstitution(
-                    [
-                        FindPackageShare("ros_gz_sim"),
-                        "launch",
-                        "gz_sim.launch.py",
-                    ]
-                )
-            ]
-        ),
-        launch_arguments=[
-            (
-                "gz_args",
-                [
-                    "-r ",
-                    gazebo_world_file,
-                ],
-            ),
-        ],
-        condition=IfCondition(use_sim),
-    )
-
-    # Include the second launch file with model name
-    model_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                PathJoinSubstitution(
-                    [
-                        FindPackageShare("dave_object_models"),
-                        "launch",
-                        "upload_object.launch.py",
-                    ]
-                )
-            ]
-        ),
-        launch_arguments={
-            "object_name": object_name,
-            "use_sim": use_sim,
-        }.items(),
-    )
-
-    include = [gz_sim_launch, model_launch]
-
-    return LaunchDescription(args + include)
diff --git a/examples/dave_demos/launch/sensor_in_empty_world.launch.py b/examples/dave_demos/launch/sensor_in_empty_world.launch.py
deleted file mode 100644
index 7622a93f..00000000
--- a/examples/dave_demos/launch/sensor_in_empty_world.launch.py
+++ /dev/null
@@ -1,79 +0,0 @@
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.conditions import IfCondition
-from launch_ros.substitutions import FindPackageShare
-
-
-def generate_launch_description():
-    use_sim = LaunchConfiguration("use_sim")
-    sensor_name = LaunchConfiguration("sensor_name")
-    gazebo_world_file = LaunchConfiguration("gazebo_world_file")
-
-    # Declare the launch arguments with default values
-    args = [
-        DeclareLaunchArgument(
-            "gazebo_world_file",
-            default_value="empty.sdf",
-            description="Gazebo world file to launch",
-        ),
-        DeclareLaunchArgument(
-            "use_sim",
-            default_value="true",
-            description="Flag to indicate whether to use simulation",
-        ),
-        DeclareLaunchArgument(
-            "sensor_name",
-            default_value="nortek_dvl500_300",
-            description="Name of the model to load",
-        ),
-    ]
-
-    # Include the first launch file
-    gz_sim_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                PathJoinSubstitution(
-                    [
-                        FindPackageShare("ros_gz_sim"),
-                        "launch",
-                        "gz_sim.launch.py",
-                    ]
-                )
-            ]
-        ),
-        launch_arguments=[
-            (
-                "gz_args",
-                [
-                    "-r ",
-                    gazebo_world_file,
-                ],
-            ),
-        ],
-        condition=IfCondition(use_sim),
-    )
-
-    # Include the second launch file with model name
-    model_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            [
-                PathJoinSubstitution(
-                    [
-                        FindPackageShare("dave_sensor_models"),
-                        "launch",
-                        "upload_sensor.launch.py",
-                    ]
-                )
-            ]
-        ),
-        launch_arguments={
-            "sensor_name": sensor_name,
-            "use_sim": use_sim,
-        }.items(),
-    )
-
-    include = [gz_sim_launch, model_launch]
-
-    return LaunchDescription(args + include)
diff --git a/gazebo/dave_ros_gz_plugins/CMakeLists.txt b/gazebo/dave_ros_gz_plugins/CMakeLists.txt
index 7c33aafb..eb95da97 100644
--- a/gazebo/dave_ros_gz_plugins/CMakeLists.txt
+++ b/gazebo/dave_ros_gz_plugins/CMakeLists.txt
@@ -20,11 +20,15 @@ set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
 message(STATUS "Compiling against Gazebo Harmonic")
 
 add_library(SphericalCoords SHARED src/SphericalCoords.cc)
+add_library(DVLBridge SHARED src/DVLBridge.cc)
 
 target_include_directories(SphericalCoords PRIVATE include)
+target_include_directories(DVLBridge PRIVATE include)
 
 target_link_libraries(SphericalCoords
   gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER})
+target_link_libraries(DVLBridge
+  gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER})
 
 # Specify dependencies for FullSystem using ament_target_dependencies
 ament_target_dependencies(SphericalCoords
@@ -33,9 +37,15 @@ ament_target_dependencies(SphericalCoords
   geometry_msgs
   std_msgs
 )
+ament_target_dependencies(DVLBridge
+  dave_interfaces
+  rclcpp
+  geometry_msgs
+  std_msgs
+)
 
 # Install targets
-install(TARGETS SphericalCoords
+install(TARGETS SphericalCoords DVLBridge
   DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/gazebo/dave_ros_gz_plugins/include/dave_ros_gz_plugins/DVLBridge.hh b/gazebo/dave_ros_gz_plugins/include/dave_ros_gz_plugins/DVLBridge.hh
new file mode 100644
index 00000000..23ea6aa6
--- /dev/null
+++ b/gazebo/dave_ros_gz_plugins/include/dave_ros_gz_plugins/DVLBridge.hh
@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2024 Rakesh Vivekanandan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef DAVE_ROS_GZ_PLUGINS__DVLBRIDGE_HH_
+#define DAVE_ROS_GZ_PLUGINS__DVLBRIDGE_HH_
+
+#include <gz/msgs/dvl_velocity_tracking.pb.h>
+#include <gz/sim/System.hh>
+#include <memory>
+#include <mutex>
+#include <rclcpp/rclcpp.hpp>
+#include "dave_interfaces/msg/dvl.hpp"
+#include "dave_interfaces/msg/dvl_beam.hpp"
+
+namespace dave_ros_gz_plugins
+
+{
+class DVLBridge : public gz::sim::System,
+                  public gz::sim::ISystemConfigure,
+                  public gz::sim::ISystemPostUpdate
+{
+public:
+  DVLBridge();
+  ~DVLBridge() override = default;
+
+  void Configure(
+    const gz::sim::Entity & entity, const std::shared_ptr<const sdf::Element> & sdf,
+    gz::sim::EntityComponentManager & ecm, gz::sim::EventManager & eventMgr) override;
+
+  void PostUpdate(
+    const gz::sim::UpdateInfo & info, const gz::sim::EntityComponentManager & ecm) override;
+
+  void receiveGazeboCallback(const gz::msgs::DVLVelocityTracking & dvl_velocity_tracking);
+
+private:
+  std::shared_ptr<rclcpp::Node> ros_node_;
+
+  struct PrivateData;
+  std::unique_ptr<PrivateData> dataPtr;
+};
+}  // namespace dave_ros_gz_plugins
+
+#endif  // DAVE_ROS_GZ_PLUGINS__DVLBRIDGE_HH_
diff --git a/gazebo/dave_ros_gz_plugins/src/DVLBridge.cc b/gazebo/dave_ros_gz_plugins/src/DVLBridge.cc
new file mode 100644
index 00000000..66b98204
--- /dev/null
+++ b/gazebo/dave_ros_gz_plugins/src/DVLBridge.cc
@@ -0,0 +1,197 @@
+/*
+ * Copyright (C) 2024 Rakesh Vivekanandan
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <iostream>
+
+#include <gz/common/Console.hh>
+#include <gz/transport/Node.hh>
+#include <rclcpp/rclcpp.hpp>
+#include "gz/plugin/Register.hh"
+
+#include "dave_ros_gz_plugins/DVLBridge.hh"
+
+GZ_ADD_PLUGIN(
+  dave_ros_gz_plugins::DVLBridge, gz::sim::System, dave_ros_gz_plugins::DVLBridge::ISystemConfigure,
+  dave_ros_gz_plugins::DVLBridge::ISystemPostUpdate)
+
+namespace dave_ros_gz_plugins
+{
+
+struct DVLBridge::PrivateData
+{
+  // Add any private data members here.
+  std::mutex mutex_;
+  gz::transport::Node gz_node;
+  std::string dvl_topic;
+  rclcpp::Publisher<dave_interfaces::msg::DVL>::SharedPtr dvl_pub;
+};
+
+DVLBridge::DVLBridge() : dataPtr(std::make_unique<PrivateData>()) {}
+
+void DVLBridge::Configure(
+  const gz::sim::Entity & _entity, const std::shared_ptr<const sdf::Element> & _sdf,
+  gz::sim::EntityComponentManager & _ecm, gz::sim::EventManager & _eventManager)
+{
+  gzdbg << "dave_ros_gz_plugins::DVLBridge::Configure on entity: " << _entity << std::endl;
+
+  if (!rclcpp::ok())
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  this->ros_node_ = std::make_shared<rclcpp::Node>("dvl_bridge_node");
+
+  // Grab dvl topic from SDF
+  if (!_sdf->HasElement("topic"))
+  {
+    this->dataPtr->dvl_topic = "/dvl/velocity";
+    gzmsg << "dvl topic set to default:  " << this->dataPtr->dvl_topic << std::endl;
+  }
+  else
+  {
+    this->dataPtr->dvl_topic = _sdf->Get<std::string>("topic");
+    gzmsg << "dvl topic: " << this->dataPtr->dvl_topic << std::endl;
+  }
+
+  // Gazebo subscriber
+  std::function<void(const gz::msgs::DVLVelocityTracking &)> callback =
+    std::bind(&DVLBridge::receiveGazeboCallback, this, std::placeholders::_1);
+
+  this->dataPtr->gz_node.Subscribe(this->dataPtr->dvl_topic, callback);
+
+  // ROS2 publisher
+  this->dataPtr->dvl_pub =
+    this->ros_node_->create_publisher<dave_interfaces::msg::DVL>(this->dataPtr->dvl_topic, 1);
+}
+
+void DVLBridge::receiveGazeboCallback(const gz::msgs::DVLVelocityTracking & msg)
+{
+  std::lock_guard<std::mutex> lock(this->dataPtr->mutex_);
+
+  gzmsg << "dave_ros_gz_plugins::DVLBridge::receiveGazeboCallback" << std::endl;
+
+  auto dvl_msg = dave_interfaces::msg::DVL();
+  dvl_msg.header.stamp.sec = msg.header().stamp().sec();
+  dvl_msg.header.stamp.nanosec = msg.header().stamp().nsec();
+
+  std::string dvl_type;
+  std::string target_type;
+  std::string reference_type;
+
+  switch (msg.type())
+  {
+    case gz::msgs::DVLVelocityTracking::DVL_TYPE_UNSPECIFIED:
+      dvl_type = "DVL_TYPE_UNSPECIFIED";
+      break;
+    case gz::msgs::DVLVelocityTracking::DVL_TYPE_PISTON:
+      dvl_type = "DVL_TYPE_PISTON";
+      break;
+    case gz::msgs::DVLVelocityTracking::DVL_TYPE_PHASED_ARRAY:
+      dvl_type = "DVL_TYPE_PHASED_ARRAY";
+      break;
+    default:
+      dvl_type = "DVL_TYPE_UNSPECIFIED";
+  }
+
+  switch (msg.target().type())
+  {
+    case gz::msgs::DVLTrackingTarget::DVL_TARGET_UNSPECIFIED:
+      target_type = "DVL_TARGET_UNSPECIFIED";
+      break;
+    case gz::msgs::DVLTrackingTarget::DVL_TARGET_BOTTOM:
+      target_type = "DVL_TARGET_BOTTOM";
+      break;
+    case gz::msgs::DVLTrackingTarget::DVL_TARGET_WATER_MASS:
+      target_type = "DVL_TARGET_WATER_MASS";
+      break;
+    default:
+      target_type = "DVL_TARGET_UNSPECIFIED";
+  }
+
+  dvl_msg.type = dvl_type;
+
+  dvl_msg.target.type = target_type;
+  dvl_msg.target.range = msg.target().range().mean();
+
+  dvl_msg.velocity.twist.linear.x = msg.velocity().mean().x();
+  dvl_msg.velocity.twist.linear.y = msg.velocity().mean().y();
+  dvl_msg.velocity.twist.linear.z = msg.velocity().mean().z();
+
+  size_t covariance_size = msg.velocity().covariance().size();
+
+  for (size_t i = 0; i < covariance_size; i++)
+  {
+    dvl_msg.velocity.covariance[i] = msg.velocity().covariance()[i];
+  }
+
+  size_t beam_size = msg.beams().size();
+
+  for (size_t i = 0; i < beam_size; i++)
+  {
+    auto beam = dave_interfaces::msg::DVLBeam();
+    beam.id = msg.beams()[i].id();
+
+    switch (msg.beams()[i].velocity().reference())
+    {
+      case gz::msgs::DVLKinematicEstimate::DVL_REFERENCE_UNSPECIFIED:
+        reference_type = "DVL_REFERENCE_UNSPECIFIED";
+        break;
+      case gz::msgs::DVLKinematicEstimate::DVL_REFERENCE_EARTH:
+        reference_type = "DVL_REFERENCE_EARTH";
+        break;
+      case gz::msgs::DVLKinematicEstimate::DVL_REFERENCE_SHIP:
+        reference_type = "DVL_REFERENCE_SHIP";
+        break;
+      default:
+        reference_type = "DVL_REFERENCE_UNSPECIFIED";
+    }
+
+    beam.reference = reference_type;
+    beam.range = msg.beams()[i].range().mean();
+    beam.locked = msg.beams()[i].locked();
+
+    beam.velocity.twist.linear.x = msg.beams()[i].velocity().mean().x();
+    beam.velocity.twist.linear.y = msg.beams()[i].velocity().mean().y();
+    beam.velocity.twist.linear.z = msg.beams()[i].velocity().mean().z();
+
+    size_t beam_covariance_size = msg.beams()[i].velocity().covariance().size();
+
+    for (size_t j = 0; j < beam_covariance_size; j++)
+    {
+      beam.velocity.covariance[j] = msg.beams()[i].velocity().covariance()[j];
+    }
+
+    dvl_msg.beams.push_back(beam);
+  }
+
+  this->dataPtr->dvl_pub->publish(dvl_msg);
+}
+
+void DVLBridge::PostUpdate(
+  const gz::sim::UpdateInfo & _info, const gz::sim::EntityComponentManager & _ecm)
+{
+  if (!_info.paused)
+  {
+    rclcpp::spin_some(this->ros_node_);
+
+    if (_info.iterations % 1000 == 0)
+    {
+      gzmsg << "dave_ros_gz_plugins::DVLBridge::PostUpdate" << std::endl;
+    }
+  }
+}
+
+}  // namespace dave_ros_gz_plugins
diff --git a/models/dave_object_models/launch/upload_object.launch.py b/models/dave_object_models/launch/upload_object.launch.py
index 2abdf5d8..6be7284f 100755
--- a/models/dave_object_models/launch/upload_object.launch.py
+++ b/models/dave_object_models/launch/upload_object.launch.py
@@ -8,19 +8,67 @@
 
 
 def generate_launch_description():
-    object_name = LaunchConfiguration("object_name")
-    use_sim = LaunchConfiguration("use_sim")
+    gui = LaunchConfiguration("gui")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    namespace = LaunchConfiguration("namespace")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("roll")
+    pitch = LaunchConfiguration("pitch")
+    yaw = LaunchConfiguration("yaw")
+    use_ned_frame = LaunchConfiguration("use_ned_frame")
 
     args = [
         DeclareLaunchArgument(
-            "object_name",
-            default_value="model",
-            description="Name of the object model to load",
+            "gui",
+            default_value="true",
+            description="Flag to indicate whether to use simulation",
         ),
         DeclareLaunchArgument(
-            "use_sim",
+            "use_sim_time",
             default_value="true",
-            description="Flag to indicate whether to use simulation",
+            description="Flag to indicate whether to use sim time",
+        ),
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace",
+        ),
+        DeclareLaunchArgument(
+            "x",
+            default_value="0",
+            description="Initial x position",
+        ),
+        DeclareLaunchArgument(
+            "y",
+            default_value="0",
+            description="Initial y position",
+        ),
+        DeclareLaunchArgument(
+            "z",
+            default_value="0.0",
+            description="Initial z position",
+        ),
+        DeclareLaunchArgument(
+            "roll",
+            default_value="0.0",
+            description="Initial roll",
+        ),
+        DeclareLaunchArgument(
+            "pitch",
+            default_value="0.0",
+            description="Initial pitch",
+        ),
+        DeclareLaunchArgument(
+            "yaw",
+            default_value="0.0",
+            description="Initial yaw",
+        ),
+        DeclareLaunchArgument(
+            "use_ned_frame",
+            default_value="false",
+            description="Use North-East-Down frame",
         ),
     ]
 
@@ -28,25 +76,61 @@ def generate_launch_description():
         [
             FindPackageShare("dave_object_models"),
             "description",
-            object_name,
+            namespace,
             "model.sdf",
         ]
     )
 
+    tf2_spawner = Node(
+        package="tf2_ros",
+        executable="static_transform_publisher",
+        name="world_to_world_ned",
+        arguments=[
+            "--roll",
+            "1.57",
+            "--yaw",
+            "3.14",
+            "--frame_id",
+            "world",
+            "--child_frame_id",
+            "world_ned",
+        ],
+        output="both",
+        condition=IfCondition(use_ned_frame),
+        parameters=[{"use_sim_time": use_sim_time}],
+    )
+
     gz_spawner = Node(
         package="ros_gz_sim",
         executable="create",
-        arguments=["-name", object_name, "-file", description_file],
+        arguments=[
+            "-name",
+            namespace,
+            "-file",
+            description_file,
+            "-x",
+            x,
+            "-y",
+            y,
+            "-z",
+            z,
+            "-R",
+            roll,
+            "-P",
+            pitch,
+            "-Y",
+            yaw,
+        ],
         output="both",
-        condition=IfCondition(use_sim),
-        parameters=[{"use_sim_time": use_sim}],
+        condition=IfCondition(gui),
+        parameters=[{"use_sim_time": use_sim_time}],
     )
 
-    nodes = [gz_spawner]
+    nodes = [tf2_spawner, gz_spawner]
 
     event_handlers = [
         RegisterEventHandler(
-            OnProcessExit(target_action=gz_spawner, on_exit=LogInfo(msg="Model Uploaded"))
+            OnProcessExit(target_action=gz_spawner, on_exit=LogInfo(msg="Object Model Uploaded"))
         )
     ]
 
diff --git a/models/dave_robot_models/launch/upload_robot.launch.py b/models/dave_robot_models/launch/upload_robot.launch.py
index 263508a3..5b499add 100755
--- a/models/dave_robot_models/launch/upload_robot.launch.py
+++ b/models/dave_robot_models/launch/upload_robot.launch.py
@@ -114,11 +114,11 @@ def generate_launch_description():
             y,
             "-z",
             z,
-            "-roll",
+            "-R",
             roll,
-            "-pitch",
+            "-P",
             pitch,
-            "-yaw",
+            "-Y",
             yaw,
         ],
         output="both",
diff --git a/models/dave_sensor_models/description/nortek_dvl1000_300/model.config b/models/dave_sensor_models/description/nortek_dvl1000_300/model.config
new file mode 100644
index 00000000..62e618fb
--- /dev/null
+++ b/models/dave_sensor_models/description/nortek_dvl1000_300/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>nortek_dvl1000_300</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name>Duane Davis</name>
+        <email>dtdavi1@nps.edu</email>
+    </author>
+    <description>Nortek DVL1000-300</description>
+</model>
diff --git a/models/dave_sensor_models/description/nortek_dvl1000_300/model.sdf b/models/dave_sensor_models/description/nortek_dvl1000_300/model.sdf
new file mode 100644
index 00000000..575f757b
--- /dev/null
+++ b/models/dave_sensor_models/description/nortek_dvl1000_300/model.sdf
@@ -0,0 +1,168 @@
+<?xml version='1.0'?>
+<sdf version='1.7'>
+  <model name='nortek_dvl1000_300'>
+    <link name='dvl1000_base_link'>
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>1.3</mass>
+        <inertia>
+          <ixx>0.00376036</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00376036</iyy>
+          <iyz>0</iyz>
+          <izz>0.00211185</izz>
+        </inertia>
+      </inertial>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+
+      <sensor
+        name="nortek_dvl1000_300" type="custom"
+        gz:type="dvl">
+        <pose>0 0 0 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8</update_rate>
+        <topic>/dvl/velocity</topic>
+        <gz:dvl>
+          <type>phased_array</type>
+          <arrangement degrees="true">
+            <beam id="1">
+              <aperture>3</aperture>
+              <rotation>-135</rotation>
+              <tilt>25</tilt>
+            </beam>
+            <beam>
+              <aperture>3</aperture>
+              <rotation>135</rotation>
+              <tilt>25</tilt>
+            </beam>
+            <beam>
+              <aperture>3</aperture>
+              <rotation>45</rotation>
+              <tilt>25</tilt>
+            </beam>
+            <beam>
+              <aperture>3</aperture>
+              <rotation>-45</rotation>
+              <tilt>25</tilt>
+            </beam>
+          </arrangement>
+          <tracking>
+            <water_mass_mode>
+              <when>best</when>
+              <water_velocity>
+                <x>0.</x>
+                <y>0.</y>
+                <z>0.</z>
+              </water_velocity>
+              <boundaries>
+                <near>10.</near>
+                <far>100.</far>
+              </boundaries>
+              <bins>10</bins>
+              <noise type="gaussian">
+                <stddev>0.015</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </water_mass_mode>
+            <bottom_mode>
+              <when>best</when>
+              <noise type="gaussian">
+                <stddev>0.015</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </bottom_mode>
+          </tracking>
+          <maximum_range>75.</maximum_range>
+          <minimum_range>0.2</minimum_range>
+          <!-- ENU to FSD -->
+          <reference_frame>0 0 0 3.14 0 -1.57</reference_frame>
+        </gz:dvl>
+      </sensor>
+
+      <self_collide>0</self_collide>
+      <enable_wind>0</enable_wind>
+      <kinematic>0</kinematic>
+      <visual name='dvl1000_base_link_visual'>
+        <pose>0 0 0 0 0 3.14159</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <!-- Mesh is actually for a Nortek DVL1000-4000m for now -->
+            <uri>model://meshes/nortek_dvl1000_300/DVL1000-300m.dae</uri>
+          </mesh>
+        </geometry>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='dvl1000_base_link_collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 3.14159 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.057</radius>
+            <length>0.158</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+
+    <plugin
+      filename="DVLBridge"
+      name="dave_ros_gz_plugins::DVLBridge">
+      <topic>/dvl/velocity</topic>
+    </plugin>
+
+  </model>
+</sdf>
diff --git a/models/dave_sensor_models/description/nortek_dvl1000_4000/model.config b/models/dave_sensor_models/description/nortek_dvl1000_4000/model.config
new file mode 100644
index 00000000..d229b716
--- /dev/null
+++ b/models/dave_sensor_models/description/nortek_dvl1000_4000/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>nortek_dvl1000_4000</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Duane Davis</name>
+        <email>dtdavi1@nps.edu</email>
+    </author>
+    <description>Nortek DVL1000-4000 model</description>
+</model>
diff --git a/models/dave_sensor_models/description/nortek_dvl1000_4000/model.sdf b/models/dave_sensor_models/description/nortek_dvl1000_4000/model.sdf
new file mode 100644
index 00000000..3d9e37ff
--- /dev/null
+++ b/models/dave_sensor_models/description/nortek_dvl1000_4000/model.sdf
@@ -0,0 +1,167 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="nortek_dvl1000_4000">
+    <link name="dvl1000_base_link">
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>2.7</mass>
+        <inertia>
+          <ixx>0.00824467</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.00824467</iyy>
+          <iyz>0</iyz>
+          <izz>0.00438615</izz>
+        </inertia>
+      </inertial>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+
+      <sensor
+        name="nortek_dvl1000_4000" type="custom"
+        gz:type="dvl">
+        <pose>0 0 0 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8</update_rate>
+        <topic>/dvl/velocity</topic>
+        <gz:dvl>
+          <type>phased_array</type>
+          <arrangement degrees="true">
+            <beam id="1">
+              <aperture>3</aperture>
+              <rotation>-135</rotation>
+              <tilt>25</tilt>
+            </beam>
+            <beam>
+              <aperture>3</aperture>
+              <rotation>135</rotation>
+              <tilt>25</tilt>
+            </beam>
+            <beam>
+              <aperture>3</aperture>
+              <rotation>45</rotation>
+              <tilt>25</tilt>
+            </beam>
+            <beam>
+              <aperture>3</aperture>
+              <rotation>-45</rotation>
+              <tilt>25</tilt>
+            </beam>
+          </arrangement>
+          <tracking>
+            <water_mass_mode>
+              <when>best</when>
+              <water_velocity>
+                <x>0.</x>
+                <y>0.</y>
+                <z>0.</z>
+              </water_velocity>
+              <boundaries>
+                <near>10.</near>
+                <far>100.</far>
+              </boundaries>
+              <bins>10</bins>
+              <noise type="gaussian">
+                <stddev>0.015</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </water_mass_mode>
+            <bottom_mode>
+              <when>best</when>
+              <noise type="gaussian">
+                <stddev>0.015</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </bottom_mode>
+          </tracking>
+          <maximum_range>200.</maximum_range>
+          <minimum_range>0.3</minimum_range>
+          <!-- ENU to FSD -->
+          <reference_frame>0 0 0 3.14 0 -1.57</reference_frame>
+        </gz:dvl>
+      </sensor>
+
+      <self_collide>0</self_collide>
+      <enable_wind>0</enable_wind>
+      <kinematic>0</kinematic>
+      <visual name="dvl1000_base_link_visual">
+        <pose>0 0 0 0 0 3.14159</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://meshes/nortek_dvl1000_4000/DVL1000-4000m.dae</uri>
+          </mesh>
+        </geometry>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name="dvl1000_base_link_collision">
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 3.14159 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.057</radius>
+            <length>0.164</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+
+    <plugin
+      filename="DVLBridge"
+      name="dave_ros_gz_plugins::DVLBridge">
+      <topic>/dvl/velocity</topic>
+    </plugin>
+
+  </model>
+</sdf>
diff --git a/models/dave_sensor_models/description/nortek_dvl500_300/model.sdf b/models/dave_sensor_models/description/nortek_dvl500_300/model.sdf
index 435d1c1d..5af3ecec 100644
--- a/models/dave_sensor_models/description/nortek_dvl500_300/model.sdf
+++ b/models/dave_sensor_models/description/nortek_dvl500_300/model.sdf
@@ -18,7 +18,71 @@
       <velocity_decay/>
       <gravity>1</gravity>
       <velocity_decay/>
-      <!-- Removed sensor -->
+
+      <sensor
+        name="nortek_dvl500_300" type="custom"
+        gz:type="dvl">
+        <pose>0 0 0 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8</update_rate>
+        <topic>/dvl/velocity</topic>
+        <gz:dvl>
+          <type>phased_array</type>
+          <arrangement degrees="true">
+            <beam id="1">
+              <aperture>3</aperture>
+              <rotation>-135</rotation>
+              <tilt>25</tilt>
+            </beam>
+            <beam>
+              <aperture>3</aperture>
+              <rotation>135</rotation>
+              <tilt>25</tilt>
+            </beam>
+            <beam>
+              <aperture>3</aperture>
+              <rotation>45</rotation>
+              <tilt>25</tilt>
+            </beam>
+            <beam>
+              <aperture>3</aperture>
+              <rotation>-45</rotation>
+              <tilt>25</tilt>
+            </beam>
+          </arrangement>
+          <tracking>
+            <water_mass_mode>
+              <when>best</when>
+              <water_velocity>
+                <x>0.</x>
+                <y>0.</y>
+                <z>0.</z>
+              </water_velocity>
+              <boundaries>
+                <near>10.</near>
+                <far>100.</far>
+              </boundaries>
+              <bins>10</bins>
+              <noise type="gaussian">
+                <stddev>0.015</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </water_mass_mode>
+            <bottom_mode>
+              <when>best</when>
+              <noise type="gaussian">
+                <stddev>0.005</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </bottom_mode>
+          </tracking>
+          <maximum_range>200.</maximum_range>
+          <minimum_range>0.3</minimum_range>
+          <!-- ENU to FSD -->
+          <reference_frame>0 0 0 3.14 0 -1.57</reference_frame>
+        </gz:dvl>
+      </sensor>
+
       <self_collide>0</self_collide>
       <enable_wind>0</enable_wind>
       <kinematic>0</kinematic>
@@ -91,7 +155,14 @@
         </surface>
       </collision>
     </link>
-    <static>0</static>
+    <static>1</static>
     <allow_auto_disable>1</allow_auto_disable>
+
+    <plugin
+      filename="DVLBridge"
+      name="dave_ros_gz_plugins::DVLBridge">
+      <topic>/dvl/velocity</topic>
+    </plugin>
+
   </model>
 </sdf>
diff --git a/models/dave_sensor_models/description/nortek_dvl500_6000/model.config b/models/dave_sensor_models/description/nortek_dvl500_6000/model.config
new file mode 100644
index 00000000..27dc19c1
--- /dev/null
+++ b/models/dave_sensor_models/description/nortek_dvl500_6000/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>nortek_dvl500_6000</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name>Duane Davis</name>
+        <email>dtdavi1@nps.edu</email>
+    </author>
+    <description>Nortek DVL500-6000</description>
+</model>
diff --git a/models/dave_sensor_models/description/nortek_dvl500_6000/model.sdf b/models/dave_sensor_models/description/nortek_dvl500_6000/model.sdf
new file mode 100644
index 00000000..040f6254
--- /dev/null
+++ b/models/dave_sensor_models/description/nortek_dvl500_6000/model.sdf
@@ -0,0 +1,168 @@
+<?xml version="1.0"?>
+<sdf version="1.7">
+  <model name="nortek_dvl500_6000">
+    <link name="dvl500_base_link">
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>3.1</mass>
+        <inertia>
+          <ixx>0.0330184</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0330184</iyy>
+          <iyz>0</iyz>
+          <izz>0.0255146</izz>
+        </inertia>
+      </inertial>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+
+      <sensor
+        name="nortek_dvl500_6000" type="custom"
+        gz:type="dvl">
+        <pose>0 0 0 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8</update_rate>
+        <topic>/dvl/velocity</topic>
+        <gz:dvl>
+          <type>phased_array</type>
+          <arrangement degrees="true">
+            <beam id="1">
+              <aperture>3</aperture>
+              <rotation>-135</rotation>
+              <tilt>25</tilt>
+            </beam>
+            <beam>
+              <aperture>3</aperture>
+              <rotation>135</rotation>
+              <tilt>25</tilt>
+            </beam>
+            <beam>
+              <aperture>3</aperture>
+              <rotation>45</rotation>
+              <tilt>25</tilt>
+            </beam>
+            <beam>
+              <aperture>3</aperture>
+              <rotation>-45</rotation>
+              <tilt>25</tilt>
+            </beam>
+          </arrangement>
+          <tracking>
+            <water_mass_mode>
+              <when>best</when>
+              <water_velocity>
+                <x>0.</x>
+                <y>0.</y>
+                <z>0.</z>
+              </water_velocity>
+              <boundaries>
+                <near>10.</near>
+                <far>100.</far>
+              </boundaries>
+              <bins>10</bins>
+              <noise type="gaussian">
+                <stddev>0.015</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </water_mass_mode>
+            <bottom_mode>
+              <when>best</when>
+              <noise type="gaussian">
+                <stddev>0.005</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </bottom_mode>
+          </tracking>
+          <maximum_range>200.</maximum_range>
+          <minimum_range>0.3</minimum_range>
+          <!-- ENU to FSD -->
+          <reference_frame>0 0 0 3.14 0 -1.57</reference_frame>
+        </gz:dvl>
+      </sensor>
+
+      <self_collide>0</self_collide>
+      <enable_wind>0</enable_wind>
+      <kinematic>0</kinematic>
+      <visual name="dvl500_base_link_visual">
+        <pose>0 0 0 0 0 3.14159</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <!-- Mesh is actually for a Nortek DVL1000-4000m for now -->
+            <uri>model://meshes/nortek_dvl500_6000/DVL500-6000m.dae</uri>
+          </mesh>
+        </geometry>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name="dvl500_base_link_fixed_joint_lump__dvl500_link_collision">
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 3.14159 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.093</radius>
+            <length>0.203</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+
+    <plugin
+      filename="DVLBridge"
+      name="dave_ros_gz_plugins::DVLBridge">
+      <topic>/dvl/velocity</topic>
+    </plugin>
+
+  </model>
+</sdf>
diff --git a/models/dave_sensor_models/description/sonardyne_syrinx600/model.config b/models/dave_sensor_models/description/sonardyne_syrinx600/model.config
new file mode 100644
index 00000000..2cecaa9c
--- /dev/null
+++ b/models/dave_sensor_models/description/sonardyne_syrinx600/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>sonardyne_syrinx600</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Duane Davis</name>
+        <email>dtdavi1@nps.edu</email>
+    </author>
+    <description>Sonardyne Syrinx 600 model utilizing the WHOI DSL Gazebo environment DVL plugin</description>
+</model>
diff --git a/models/dave_sensor_models/description/sonardyne_syrinx600/model.sdf b/models/dave_sensor_models/description/sonardyne_syrinx600/model.sdf
new file mode 100644
index 00000000..5f3895ac
--- /dev/null
+++ b/models/dave_sensor_models/description/sonardyne_syrinx600/model.sdf
@@ -0,0 +1,168 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="sonardyne_syrinx600">
+    <link name="syrinx600_base_link">
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>12</mass>
+        <inertia>
+          <ixx>0.0736897</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0736897</iyy>
+          <iyz>0</iyz>
+          <izz>0.0759375</izz>
+        </inertia>
+      </inertial>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+
+      <sensor
+        name="sonardyne_syrinx600" type="custom"
+        gz:type="dvl">
+        <pose>0 0 0 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>8</update_rate>
+        <topic>/dvl/velocity</topic>
+        <gz:dvl>
+          <type>phased_array</type>
+          <arrangement degrees="true">
+            <beam id="1">
+              <aperture>1.5</aperture>
+              <rotation>-135</rotation>
+              <tilt>30</tilt>
+            </beam>
+            <beam>
+              <aperture>1.5</aperture>
+              <rotation>135</rotation>
+              <tilt>30</tilt>
+            </beam>
+            <beam>
+              <aperture>1.5</aperture>
+              <rotation>45</rotation>
+              <tilt>30</tilt>
+            </beam>
+            <beam>
+              <aperture>1.5</aperture>
+              <rotation>-45</rotation>
+              <tilt>30</tilt>
+            </beam>
+          </arrangement>
+          <tracking>
+            <water_mass_mode>
+              <when>best</when>
+              <water_velocity>
+                <x>0.</x>
+                <y>0.</y>
+                <z>0.</z>
+              </water_velocity>
+              <boundaries>
+                <near>10.</near>
+                <far>100.</far>
+              </boundaries>
+              <bins>10</bins>
+              <noise type="gaussian">
+                <stddev>0.0044</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </water_mass_mode>
+            <bottom_mode>
+              <when>best</when>
+              <noise type="gaussian">
+                <stddev>0.0022</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </bottom_mode>
+          </tracking>
+          <maximum_range>175.</maximum_range>
+          <minimum_range>0.4</minimum_range>
+          <!-- ENU to FSD -->
+          <reference_frame>0 0 0 3.14 0 -1.57</reference_frame>
+        </gz:dvl>
+      </sensor>
+
+      <self_collide>0</self_collide>
+      <enable_wind>0</enable_wind>
+      <kinematic>0</kinematic>
+      <visual name="syrinx600_base_link_visual">
+        <pose>0 0 0 0 0 3.14159</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <!-- Mesh is actually for a Nortek DVL1000-4000m for now -->
+            <uri>model://meshes/sonardyne_syrinx600/Syrinx600.dae</uri>
+          </mesh>
+        </geometry>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name="syrinx600_base_link_collision">
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 3.14159 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.1125</radius>
+            <length>0.189</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+
+    <plugin
+      filename="DVLBridge"
+      name="dave_ros_gz_plugins::DVLBridge">
+      <topic>/dvl/velocity</topic>
+    </plugin>
+
+  </model>
+</sdf>
diff --git a/models/dave_sensor_models/description/teledyne_explorer1000/model.config b/models/dave_sensor_models/description/teledyne_explorer1000/model.config
new file mode 100644
index 00000000..e69de29b
diff --git a/models/dave_sensor_models/description/teledyne_explorer1000/model.sdf b/models/dave_sensor_models/description/teledyne_explorer1000/model.sdf
new file mode 100644
index 00000000..9e36b2a3
--- /dev/null
+++ b/models/dave_sensor_models/description/teledyne_explorer1000/model.sdf
@@ -0,0 +1,166 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="teledyne_explorer1000">
+    <link name="explorer_base_link">
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>4.3</mass>
+        <inertia>
+          <ixx>0.0082646</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0422145</iyy>
+          <iyz>0</iyz>
+          <izz>0.0422145</izz>
+        </inertia>
+      </inertial>
+      <velocity_decay/>
+      <gravity>1</gravity>
+
+      <sensor
+        name="teledyne_explorer1000" type="custom"
+        gz:type="dvl">
+        <pose>0 0 0 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>12</update_rate>
+        <topic>/dvl/velocity</topic>
+        <gz:dvl>
+          <type>phased_array</type>
+          <arrangement degrees="true">
+            <beam id="1">
+              <aperture>2.2</aperture>
+              <rotation>-135</rotation>
+              <tilt>30</tilt>
+            </beam>
+            <beam>
+              <aperture>2.2</aperture>
+              <rotation>135</rotation>
+              <tilt>30</tilt>
+            </beam>
+            <beam>
+              <aperture>2.2</aperture>
+              <rotation>45</rotation>
+              <tilt>30</tilt>
+            </beam>
+            <beam>
+              <aperture>2.2</aperture>
+              <rotation>-45</rotation>
+              <tilt>30</tilt>
+            </beam>
+          </arrangement>
+          <tracking>
+            <water_mass_mode>
+              <when>best</when>
+              <water_velocity>
+                <x>0.</x>
+                <y>0.</y>
+                <z>0.</z>
+              </water_velocity>
+              <boundaries>
+                <near>10.</near>
+                <far>100.</far>
+              </boundaries>
+              <bins>10</bins>
+              <noise type="gaussian">
+                <stddev>0.048</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </water_mass_mode>
+            <bottom_mode>
+              <when>best</when>
+              <noise type="gaussian">
+                <stddev>0.018</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </bottom_mode>
+          </tracking>
+          <maximum_range>81.</maximum_range>
+          <minimum_range>0.5</minimum_range>
+          <!-- ENU to FSD -->
+          <reference_frame>0 0 0 3.14 0 -1.57</reference_frame>
+        </gz:dvl>
+      </sensor>
+
+      <self_collide>0</self_collide>
+      <enable_wind>0</enable_wind>
+      <kinematic>0</kinematic>
+      <visual name="explorer_base_link_visual">
+        <pose>0 0 0 1.5708 0 1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://meshes/teledyne_explorer1000/MarineExplorer.dae</uri>
+          </mesh>
+        </geometry>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name="explorer_base_link_collision">
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 3.14159 -1.57079 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.062</radius>
+            <length>0.326</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+
+    <plugin
+      filename="DVLBridge"
+      name="dave_ros_gz_plugins::DVLBridge">
+      <topic>/dvl/velocity</topic>
+    </plugin>
+
+  </model>
+</sdf>
diff --git a/models/dave_sensor_models/description/teledyne_explorer4000/model.config b/models/dave_sensor_models/description/teledyne_explorer4000/model.config
new file mode 100644
index 00000000..adf03160
--- /dev/null
+++ b/models/dave_sensor_models/description/teledyne_explorer4000/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>teledyne_explorer4000</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Duane Davis</name>
+        <email>dtdavi1@nps.edu</email>
+    </author>
+    <description>Teledyne Explorer 4000 model utilizing the WHOI DSL Gazebo environment DVL plugin</description>
+</model>
diff --git a/models/dave_sensor_models/description/teledyne_explorer4000/model.sdf b/models/dave_sensor_models/description/teledyne_explorer4000/model.sdf
new file mode 100644
index 00000000..7064e91e
--- /dev/null
+++ b/models/dave_sensor_models/description/teledyne_explorer4000/model.sdf
@@ -0,0 +1,168 @@
+<?xml version="1.0"?>
+<sdf version="1.6">
+  <model name="teledyne_explorer4000">
+    <link name="explorer4000_base_link">
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>8.6</mass>
+        <inertia>
+          <ixx>0.0219827</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0957988</iyy>
+          <iyz>0</iyz>
+          <izz>0.0957988</izz>
+        </inertia>
+      </inertial>
+      <velocity_decay/>
+      <gravity>1</gravity>
+      <velocity_decay/>
+
+      <sensor
+        name="teledyne_explorer4000" type="custom"
+        gz:type="dvl">
+        <pose>0 0 0 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>12</update_rate>
+        <topic>/dvl/velocity</topic>
+        <gz:dvl>
+          <type>phased_array</type>
+          <arrangement degrees="true">
+            <beam id="1">
+              <aperture>3.8</aperture>
+              <rotation>-135</rotation>
+              <tilt>30</tilt>
+            </beam>
+            <beam>
+              <aperture>3.8</aperture>
+              <rotation>135</rotation>
+              <tilt>30</tilt>
+            </beam>
+            <beam>
+              <aperture>3.8</aperture>
+              <rotation>45</rotation>
+              <tilt>30</tilt>
+            </beam>
+            <beam>
+              <aperture>3.8</aperture>
+              <rotation>-45</rotation>
+              <tilt>30</tilt>
+            </beam>
+          </arrangement>
+          <tracking>
+            <water_mass_mode>
+              <when>best</when>
+              <water_velocity>
+                <x>0.</x>
+                <y>0.</y>
+                <z>0.</z>
+              </water_velocity>
+              <boundaries>
+                <near>10.</near>
+                <far>100.</far>
+              </boundaries>
+              <bins>10</bins>
+              <noise type="gaussian">
+                <stddev>0.025</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </water_mass_mode>
+            <bottom_mode>
+              <when>best</when>
+              <noise type="gaussian">
+                <stddev>0.019</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </bottom_mode>
+          </tracking>
+          <maximum_range>66.</maximum_range>
+          <minimum_range>0.5</minimum_range>
+          <!-- ENU to FSD -->
+          <reference_frame>0 0 0 3.14 0 -1.57</reference_frame>
+        </gz:dvl>
+      </sensor>
+
+      <self_collide>0</self_collide>
+      <enable_wind>0</enable_wind>
+      <kinematic>0</kinematic>
+      <visual name="explorer4000_base_link_visual">
+        <pose>0 0 0 1.5708 0 1.5708</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <!-- Mesh is actually for a Teledyne Explorer4000 for now -->
+            <uri>model://meshes/teledyne_explorer4000/MarineExplorer.dae</uri>
+          </mesh>
+        </geometry>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name="explorer4000_base_link_collision">
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 3.14159 -1.57079 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.0715</radius>
+            <length>0.344</length>
+          </cylinder>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+
+    <plugin
+      filename="DVLBridge"
+      name="dave_ros_gz_plugins::DVLBridge">
+      <topic>/dvl/velocity</topic>
+    </plugin>
+
+  </model>
+</sdf>
diff --git a/models/dave_sensor_models/description/teledyne_whn/model.config b/models/dave_sensor_models/description/teledyne_whn/model.config
new file mode 100644
index 00000000..b43e73db
--- /dev/null
+++ b/models/dave_sensor_models/description/teledyne_whn/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>teledyne_whn_dsl</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Duane Davis</name>
+        <email>dtdavi1@nps.edu</email>
+    </author>
+    <description>Teledyne WHEN DVL model compatible with the Woods Hole Oceanographic Institute Deep Submergence Laboratory Gazebo environment plugin</description>
+</model>
diff --git a/models/dave_sensor_models/description/teledyne_whn/model.sdf b/models/dave_sensor_models/description/teledyne_whn/model.sdf
new file mode 100644
index 00000000..deb8ccc2
--- /dev/null
+++ b/models/dave_sensor_models/description/teledyne_whn/model.sdf
@@ -0,0 +1,123 @@
+<?xml version="1.0"?>
+<!-- Teledyne Workhorse Navigator Doppler Velocity Logger (DVL) utilizing the
+     WHOI DSL Gazebo environment DVL plugin -->
+<sdf version="1.6">
+  <model name="teledyne_whn_dsl">
+    <link name="whn_base_link">
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>15.8</mass>
+        <inertia>
+          <ixx>0.1287917645</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.1287917645</iyy>
+          <iyz>0</iyz>
+          <izz>0.100162204</izz>
+        </inertia>
+      </inertial>
+      <velocity_decay/>
+      <gravity>0</gravity>
+
+      <sensor
+        name="teledyne_whn_dsl" type="custom"
+        gz:type="dvl">
+        <pose>0 0 0 0 0 0</pose>
+        <always_on>1</always_on>
+        <update_rate>7</update_rate>
+        <topic>/dvl/velocity</topic>
+        <gz:dvl>
+          <type>phased_array</type>
+          <arrangement degrees="true">
+            <beam id="1">
+              <aperture>4</aperture>
+              <rotation>-135</rotation>
+              <tilt>30</tilt>
+            </beam>
+            <beam>
+              <aperture>4</aperture>
+              <rotation>135</rotation>
+              <tilt>30</tilt>
+            </beam>
+            <beam>
+              <aperture>4</aperture>
+              <rotation>45</rotation>
+              <tilt>30</tilt>
+            </beam>
+            <beam>
+              <aperture>4</aperture>
+              <rotation>-45</rotation>
+              <tilt>30</tilt>
+            </beam>
+          </arrangement>
+          <tracking>
+            <water_mass_mode>
+              <when>best</when>
+              <water_velocity>
+                <x>0.</x>
+                <y>0.</y>
+                <z>0.</z>
+              </water_velocity>
+              <boundaries>
+                <near>10.</near>
+                <far>100.</far>
+              </boundaries>
+              <bins>10</bins>
+              <noise type="gaussian">
+                <stddev>0.0075</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </water_mass_mode>
+            <bottom_mode>
+              <when>best</when>
+              <noise type="gaussian">
+                <stddev>0.005</stddev>
+              </noise>
+              <visualize>true</visualize>
+            </bottom_mode>
+          </tracking>
+          <maximum_range>90.</maximum_range>
+          <minimum_range>0.7</minimum_range>
+          <!-- ENU to FSD -->
+          <reference_frame>0 0 0 3.14 0 -1.57</reference_frame>
+        </gz:dvl>
+      </sensor>
+
+      <self_collide>0</self_collide>
+      <enable_wind>0</enable_wind>
+      <kinematic>0</kinematic>
+      <visual name="whn_base_link_visual">
+        <pose>0 0 0 0 3.141592653589793 0</pose>
+        <geometry>
+          <mesh>
+            <scale>1 1 1</scale>
+            <uri>model://meshes/teledyne_whn/WorkhorseNavigator.dae</uri>
+          </mesh>
+        </geometry>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name="whn_base_link_collision">
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.1126</radius>
+            <length>0.2445</length>
+          </cylinder>
+        </geometry>
+      </collision>
+    </link>
+    <static>1</static>
+    <allow_auto_disable>1</allow_auto_disable>
+
+    <plugin
+      filename="DVLBridge"
+      name="dave_ros_gz_plugins::DVLBridge">
+      <topic>/dvl/velocity</topic>
+    </plugin>
+
+  </model>
+</sdf>
diff --git a/models/dave_sensor_models/launch/upload_sensor.launch.py b/models/dave_sensor_models/launch/upload_sensor.launch.py
index b06e9c20..5b18a03c 100755
--- a/models/dave_sensor_models/launch/upload_sensor.launch.py
+++ b/models/dave_sensor_models/launch/upload_sensor.launch.py
@@ -8,19 +8,67 @@
 
 
 def generate_launch_description():
-    sensor_name = LaunchConfiguration("sensor_name")
-    use_sim = LaunchConfiguration("use_sim")
+    gui = LaunchConfiguration("gui")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    namespace = LaunchConfiguration("namespace")
+    x = LaunchConfiguration("x")
+    y = LaunchConfiguration("y")
+    z = LaunchConfiguration("z")
+    roll = LaunchConfiguration("roll")
+    pitch = LaunchConfiguration("pitch")
+    yaw = LaunchConfiguration("yaw")
+    use_ned_frame = LaunchConfiguration("use_ned_frame")
 
     args = [
         DeclareLaunchArgument(
-            "sensor_name",
-            default_value="",
-            description="Name of the sensor to load",
+            "gui",
+            default_value="true",
+            description="Flag to indicate whether to use simulation",
         ),
         DeclareLaunchArgument(
-            "use_sim",
+            "use_sim_time",
             default_value="true",
-            description="Flag to indicate whether to use simulation",
+            description="Flag to indicate whether to use sim time",
+        ),
+        DeclareLaunchArgument(
+            "namespace",
+            default_value="",
+            description="Namespace",
+        ),
+        DeclareLaunchArgument(
+            "x",
+            default_value="0",
+            description="Initial x position",
+        ),
+        DeclareLaunchArgument(
+            "y",
+            default_value="0",
+            description="Initial y position",
+        ),
+        DeclareLaunchArgument(
+            "z",
+            default_value="0.0",
+            description="Initial z position",
+        ),
+        DeclareLaunchArgument(
+            "roll",
+            default_value="0.0",
+            description="Initial roll",
+        ),
+        DeclareLaunchArgument(
+            "pitch",
+            default_value="0.0",
+            description="Initial pitch",
+        ),
+        DeclareLaunchArgument(
+            "yaw",
+            default_value="0.0",
+            description="Initial yaw",
+        ),
+        DeclareLaunchArgument(
+            "use_ned_frame",
+            default_value="false",
+            description="Use North-East-Down frame",
         ),
     ]
 
@@ -28,25 +76,61 @@ def generate_launch_description():
         [
             FindPackageShare("dave_sensor_models"),
             "description",
-            sensor_name,
+            namespace,
             "model.sdf",
         ]
     )
 
+    tf2_spawner = Node(
+        package="tf2_ros",
+        executable="static_transform_publisher",
+        name="world_to_world_ned",
+        arguments=[
+            "--roll",
+            "1.57",
+            "--yaw",
+            "3.14",
+            "--frame_id",
+            "world",
+            "--child_frame_id",
+            "world_ned",
+        ],
+        output="both",
+        condition=IfCondition(use_ned_frame),
+        parameters=[{"use_sim_time": use_sim_time}],
+    )
+
     gz_spawner = Node(
         package="ros_gz_sim",
         executable="create",
-        arguments=["-name", sensor_name, "-file", description_file],
+        arguments=[
+            "-name",
+            namespace,
+            "-file",
+            description_file,
+            "-x",
+            x,
+            "-y",
+            y,
+            "-z",
+            z,
+            "-R",
+            roll,
+            "-P",
+            pitch,
+            "-Y",
+            yaw,
+        ],
         output="both",
-        condition=IfCondition(use_sim),
-        parameters=[{"use_sim_time": use_sim}],
+        condition=IfCondition(gui),
+        parameters=[{"use_sim_time": use_sim_time}],
     )
 
-    nodes = [gz_spawner]
+    nodes = [tf2_spawner, gz_spawner]
 
     event_handlers = [
         RegisterEventHandler(
-            OnProcessExit(target_action=gz_spawner, on_exit=LogInfo(msg="Model Uploaded"))
+            OnProcessExit(target_action=gz_spawner, on_exit=LogInfo(msg="Sensor Model Uploaded"))
         )
     ]
 
diff --git a/models/dave_sensor_models/meshes/nortek_dvl1000_300/DVL1000-300m.dae b/models/dave_sensor_models/meshes/nortek_dvl1000_300/DVL1000-300m.dae
new file mode 100644
index 00000000..3e74d805
--- /dev/null
+++ b/models/dave_sensor_models/meshes/nortek_dvl1000_300/DVL1000-300m.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-02-12, commit time:16:20, hash:77d23b0bd76f</authoring_tool>
+    </contributor>
+    <created>2020-05-20T08:43:09</created>
+    <modified>2020-05-20T08:43:09</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="DVL_Mat-effect">
+      <profile_COMMON>
+        <newparam sid="tx-DVL1000-300m_png-surface">
+          <surface type="2D">
+            <init_from>tx-DVL1000-300m_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="tx-DVL1000-300m_png-sampler">
+          <sampler2D>
+            <source>tx-DVL1000-300m_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="tx-DVL1000-300m_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">6.95</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="tx-DVL1000-300m_png" name="tx-DVL1000-300m_png">
+      <init_from>tx-DVL1000-300m.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="DVL_Mat-material" name="DVL Mat">
+      <instance_effect url="#DVL_Mat-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cylinder-mesh" name="Cylinder">
+      <mesh>
+        <source id="Cylinder-mesh-positions">
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+        </vertices>
+        <triangles material="DVL_Mat-material" count="6912">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
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8627 3371 1137 8628 3834 434 8629 3827 1164 8630 3368 1129 8631 3834 434 8632 3382 1163 8633 3420 285 8634 3446 1155 8635 3439 1101 8636 3448 1165 8637 3421 1100 8638 3444 1154 8639 3419 287 8640 3442 286 8641 3417 287 8642 3418 287 8643 3443 286 8644 3419 287 8645 3364 1022 8646 3834 434 8647 3365 1161 8648 3387 1162 8649 3834 434 8650 3368 1129 8651 3370 1135 8652 3834 434 8653 3371 1137 8654 3453 1156 8655 3404 1116 8656 3452 1156 8657 3423 283 8658 3431 1166 8659 3422 283 8660 3397 1115 8661 3454 1157 8662 3456 1158 8663 3438 1167 8664 3443 286 8665 3447 1153 8666 3353 1099 8667 3452 1156 8668 3398 1118 8669 3353 1099 8670 3431 1166 8671 3455 1159 8672 3440 1151 8673 3442 286 8674 3438 1167 8675 3404 1116 8676 3454 1157 8677 3405 1116 8678 3397 1115 8679 3449 1150 8680 3407 1113 8681 3457 1168 8682 3463 1169 8683 3471 1170 8684 3463 1169 8685 3459 1171 8686 3460 1172 8687 3469 281 8688 3436 280 8689 3437 281 8690 3466 1173 8691 3433 106 8692 3434 1160 8693 3448 1165 8694 3434 1160 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+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
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diff --git a/models/dave_sensor_models/meshes/nortek_dvl1000_300/tx-DVL1000-300m.png b/models/dave_sensor_models/meshes/nortek_dvl1000_300/tx-DVL1000-300m.png
new file mode 100644
index 00000000..fba82e1f
Binary files /dev/null and b/models/dave_sensor_models/meshes/nortek_dvl1000_300/tx-DVL1000-300m.png differ
diff --git a/models/dave_sensor_models/meshes/nortek_dvl1000_4000/DVL1000-4000m.dae b/models/dave_sensor_models/meshes/nortek_dvl1000_4000/DVL1000-4000m.dae
new file mode 100644
index 00000000..0d808330
--- /dev/null
+++ b/models/dave_sensor_models/meshes/nortek_dvl1000_4000/DVL1000-4000m.dae
@@ -0,0 +1,115 @@
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+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-02-12, commit time:16:20, hash:77d23b0bd76f</authoring_tool>
+    </contributor>
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+    <modified>2020-05-20T08:43:09</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
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+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="tx-DVL1000-4000m_png" name="tx-DVL1000-4000m_png">
+      <init_from>tx-DVL1000-4000m.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="DVL_Mat-material" name="DVL Mat">
+      <instance_effect url="#DVL_Mat-effect"/>
+    </material>
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+        </vertices>
+        <triangles material="DVL_Mat-material" count="6912">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
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8627 3371 1137 8628 3834 434 8629 3827 1164 8630 3368 1129 8631 3834 434 8632 3382 1163 8633 3420 285 8634 3446 1155 8635 3439 1101 8636 3448 1165 8637 3421 1100 8638 3444 1154 8639 3419 287 8640 3442 286 8641 3417 287 8642 3418 287 8643 3443 286 8644 3419 287 8645 3364 1022 8646 3834 434 8647 3365 1161 8648 3387 1162 8649 3834 434 8650 3368 1129 8651 3370 1135 8652 3834 434 8653 3371 1137 8654 3453 1156 8655 3404 1116 8656 3452 1156 8657 3423 283 8658 3431 1166 8659 3422 283 8660 3397 1115 8661 3454 1157 8662 3456 1158 8663 3438 1167 8664 3443 286 8665 3447 1153 8666 3353 1099 8667 3452 1156 8668 3398 1118 8669 3353 1099 8670 3431 1166 8671 3455 1159 8672 3440 1151 8673 3442 286 8674 3438 1167 8675 3404 1116 8676 3454 1157 8677 3405 1116 8678 3397 1115 8679 3449 1150 8680 3407 1113 8681 3457 1168 8682 3463 1169 8683 3471 1170 8684 3463 1169 8685 3459 1171 8686 3460 1172 8687 3469 281 8688 3436 280 8689 3437 281 8690 3466 1173 8691 3433 106 8692 3434 1160 8693 3448 1165 8694 3434 1160 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+      </mesh>
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+  </library_geometries>
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+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="DVL1000-4000m">
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+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/models/dave_sensor_models/meshes/nortek_dvl1000_4000/tx-DVL1000-4000m.png b/models/dave_sensor_models/meshes/nortek_dvl1000_4000/tx-DVL1000-4000m.png
new file mode 100644
index 00000000..fba82e1f
Binary files /dev/null and b/models/dave_sensor_models/meshes/nortek_dvl1000_4000/tx-DVL1000-4000m.png differ
diff --git a/models/dave_sensor_models/meshes/nortek_dvl500_6000/DVL500-6000m.dae b/models/dave_sensor_models/meshes/nortek_dvl500_6000/DVL500-6000m.dae
new file mode 100644
index 00000000..aaa5c3b1
--- /dev/null
+++ b/models/dave_sensor_models/meshes/nortek_dvl500_6000/DVL500-6000m.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
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+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-02-12, commit time:16:20, hash:77d23b0bd76f</authoring_tool>
+    </contributor>
+    <created>2020-05-20T08:43:09</created>
+    <modified>2020-05-20T08:43:09</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
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+          <surface type="2D">
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+          </surface>
+        </newparam>
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+          </sampler2D>
+        </newparam>
+        <technique sid="common">
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+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="tx-DVL500-6000m_png-sampler" texcoord="UVMap"/>
+            </diffuse>
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+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="tx-DVL500-6000m_png" name="tx-DVL500-6000m_png">
+      <init_from>tx-DVL500-6000m.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="DVL_Mat-material" name="DVL Mat">
+      <instance_effect url="#DVL_Mat-effect"/>
+    </material>
+  </library_materials>
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+        </vertices>
+        <triangles material="DVL_Mat-material" count="6912">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
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8627 3371 1137 8628 3834 434 8629 3827 1164 8630 3368 1129 8631 3834 434 8632 3382 1163 8633 3420 285 8634 3446 1155 8635 3439 1101 8636 3448 1165 8637 3421 1100 8638 3444 1154 8639 3419 287 8640 3442 286 8641 3417 287 8642 3418 287 8643 3443 286 8644 3419 287 8645 3364 1022 8646 3834 434 8647 3365 1161 8648 3387 1162 8649 3834 434 8650 3368 1129 8651 3370 1135 8652 3834 434 8653 3371 1137 8654 3453 1156 8655 3404 1116 8656 3452 1156 8657 3423 283 8658 3431 1166 8659 3422 283 8660 3397 1115 8661 3454 1157 8662 3456 1158 8663 3438 1167 8664 3443 286 8665 3447 1153 8666 3353 1099 8667 3452 1156 8668 3398 1118 8669 3353 1099 8670 3431 1166 8671 3455 1159 8672 3440 1151 8673 3442 286 8674 3438 1167 8675 3404 1116 8676 3454 1157 8677 3405 1116 8678 3397 1115 8679 3449 1150 8680 3407 1113 8681 3457 1168 8682 3463 1169 8683 3471 1170 8684 3463 1169 8685 3459 1171 8686 3460 1172 8687 3469 281 8688 3436 280 8689 3437 281 8690 3466 1173 8691 3433 106 8692 3434 1160 8693 3448 1165 8694 3434 1160 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="DVL500-6000m" name="DVL500-6000m" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="DVL500-6000m">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="DVL_Mat-material" target="#DVL_Mat-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/models/dave_sensor_models/meshes/nortek_dvl500_6000/tx-DVL500-6000m.png b/models/dave_sensor_models/meshes/nortek_dvl500_6000/tx-DVL500-6000m.png
new file mode 100644
index 00000000..fba82e1f
Binary files /dev/null and b/models/dave_sensor_models/meshes/nortek_dvl500_6000/tx-DVL500-6000m.png differ
diff --git a/models/dave_sensor_models/meshes/sonardyne_syrinx600/Syrinx600.dae b/models/dave_sensor_models/meshes/sonardyne_syrinx600/Syrinx600.dae
new file mode 100644
index 00000000..1c1753c3
--- /dev/null
+++ b/models/dave_sensor_models/meshes/sonardyne_syrinx600/Syrinx600.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-02-12, commit time:16:20, hash:77d23b0bd76f</authoring_tool>
+    </contributor>
+    <created>2020-05-20T08:43:09</created>
+    <modified>2020-05-20T08:43:09</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="DVL_Mat-effect">
+      <profile_COMMON>
+        <newparam sid="tx-Syrinx600_png-surface">
+          <surface type="2D">
+            <init_from>tx-Syrinx600_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="tx-Syrinx600_png-sampler">
+          <sampler2D>
+            <source>tx-Syrinx600_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="tx-Syrinx600_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">6.95</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="tx-Syrinx600_png" name="tx-Syrinx600_png">
+      <init_from>tx-Syrinx600.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="DVL_Mat-material" name="DVL Mat">
+      <instance_effect url="#DVL_Mat-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
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+        </vertices>
+        <triangles material="DVL_Mat-material" count="6912">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
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8627 3371 1137 8628 3834 434 8629 3827 1164 8630 3368 1129 8631 3834 434 8632 3382 1163 8633 3420 285 8634 3446 1155 8635 3439 1101 8636 3448 1165 8637 3421 1100 8638 3444 1154 8639 3419 287 8640 3442 286 8641 3417 287 8642 3418 287 8643 3443 286 8644 3419 287 8645 3364 1022 8646 3834 434 8647 3365 1161 8648 3387 1162 8649 3834 434 8650 3368 1129 8651 3370 1135 8652 3834 434 8653 3371 1137 8654 3453 1156 8655 3404 1116 8656 3452 1156 8657 3423 283 8658 3431 1166 8659 3422 283 8660 3397 1115 8661 3454 1157 8662 3456 1158 8663 3438 1167 8664 3443 286 8665 3447 1153 8666 3353 1099 8667 3452 1156 8668 3398 1118 8669 3353 1099 8670 3431 1166 8671 3455 1159 8672 3440 1151 8673 3442 286 8674 3438 1167 8675 3404 1116 8676 3454 1157 8677 3405 1116 8678 3397 1115 8679 3449 1150 8680 3407 1113 8681 3457 1168 8682 3463 1169 8683 3471 1170 8684 3463 1169 8685 3459 1171 8686 3460 1172 8687 3469 281 8688 3436 280 8689 3437 281 8690 3466 1173 8691 3433 106 8692 3434 1160 8693 3448 1165 8694 3434 1160 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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Syrinx600" name="Syrinx600" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="Syrinx600">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="DVL_Mat-material" target="#DVL_Mat-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/models/dave_sensor_models/meshes/sonardyne_syrinx600/tx-Syrinx600.png b/models/dave_sensor_models/meshes/sonardyne_syrinx600/tx-Syrinx600.png
new file mode 100644
index 00000000..fba82e1f
Binary files /dev/null and b/models/dave_sensor_models/meshes/sonardyne_syrinx600/tx-Syrinx600.png differ
diff --git a/models/dave_sensor_models/meshes/teledyne_explorer1000/MarineExplorer.dae b/models/dave_sensor_models/meshes/teledyne_explorer1000/MarineExplorer.dae
new file mode 100644
index 00000000..254bfba7
--- /dev/null
+++ b/models/dave_sensor_models/meshes/teledyne_explorer1000/MarineExplorer.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-02-12, commit time:16:20, hash:77d23b0bd76f</authoring_tool>
+    </contributor>
+    <created>2020-05-20T11:47:39</created>
+    <modified>2020-05-20T11:47:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material-effect">
+      <profile_COMMON>
+        <newparam sid="tx-Explorer_psd-surface">
+          <surface type="2D">
+            <init_from>tx-Explorer_psd</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="tx-Explorer_psd-sampler">
+          <sampler2D>
+            <source>tx-Explorer_psd-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="tx-Explorer_psd-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="tx-Explorer_psd" name="tx-Explorer_psd">
+      <init_from>tx-Explorer.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material-material" name="Material">
+      <instance_effect url="#Material-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cylinder-mesh" name="Cylinder">
+      <mesh>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cylinder" name="Cylinder" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="Cylinder">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/models/dave_sensor_models/meshes/teledyne_explorer1000/tx-Explorer.png b/models/dave_sensor_models/meshes/teledyne_explorer1000/tx-Explorer.png
new file mode 100644
index 00000000..8bf62719
Binary files /dev/null and b/models/dave_sensor_models/meshes/teledyne_explorer1000/tx-Explorer.png differ
diff --git a/models/dave_sensor_models/meshes/teledyne_explorer4000/MarineExplorer.dae b/models/dave_sensor_models/meshes/teledyne_explorer4000/MarineExplorer.dae
new file mode 100644
index 00000000..254bfba7
--- /dev/null
+++ b/models/dave_sensor_models/meshes/teledyne_explorer4000/MarineExplorer.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
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+              <param name="T" type="float"/>
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+      </mesh>
+    </geometry>
+  </library_geometries>
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+    <visual_scene id="Scene" name="Scene">
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+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="Cylinder">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material-material" target="#Material-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/models/dave_sensor_models/meshes/teledyne_explorer4000/tx-Explorer.png b/models/dave_sensor_models/meshes/teledyne_explorer4000/tx-Explorer.png
new file mode 100644
index 00000000..8bf62719
Binary files /dev/null and b/models/dave_sensor_models/meshes/teledyne_explorer4000/tx-Explorer.png differ
diff --git a/models/dave_sensor_models/meshes/teledyne_whn/WorkhorseNavigator.dae b/models/dave_sensor_models/meshes/teledyne_whn/WorkhorseNavigator.dae
new file mode 100644
index 00000000..66469e26
--- /dev/null
+++ b/models/dave_sensor_models/meshes/teledyne_whn/WorkhorseNavigator.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.82.7 commit date:2020-02-12, commit time:16:20, hash:77d23b0bd76f</authoring_tool>
+    </contributor>
+    <created>2020-05-21T09:46:03</created>
+    <modified>2020-05-21T09:46:03</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Navigator-effect">
+      <profile_COMMON>
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+          <surface type="2D">
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+          </surface>
+        </newparam>
+        <newparam sid="tx-Navigator_psd-sampler">
+          <sampler2D>
+            <source>tx-Navigator_psd-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="tx-Navigator_psd-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="tx-Navigator_psd" name="tx-Navigator_psd">
+      <init_from>tx-Navigator.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Navigator-material" name="Navigator">
+      <instance_effect url="#Navigator-effect"/>
+    </material>
+  </library_materials>
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+          <technique_common>
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+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
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+        </vertices>
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+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
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245 9104 1501 418 9105 1500 233 9106 1516 244 9107 1500 233 9108 1515 228 9109 1531 259 9110 1508 229 9111 1524 245 9112 1525 246 9113 1502 241 9114 1501 418 9115 1517 248 9116 1509 666 9117 1525 246 9118 1526 249 9119 1503 230 9120 1502 241 9121 1518 250 9122 1510 239 9123 1526 249 9124 1527 251 9125 1504 234 9126 1503 230 9127 1519 252 9128 1512 232 9129 1511 243 9130 1527 251 9131 1504 234 9132 1520 254 9133 1521 256 9134 1513 236 9135 1512 232 9136 1528 253 9137 1505 238 9138 1521 256 9139 1522 258 9140 1514 240 9141 1513 236 9142 1529 255 9143 1506 242 9144 1522 258 9145 1523 247 9146 1514 240 9147 1530 257 9148 1531 259 9149 1528 253 9150 1544 178 9151 1545 179 9152 1521 256 9153 1537 174 9154 1538 173 9155 1529 255 9156 1545 179 9157 1546 180 9158 1522 258 9159 1538 173 9160 1539 172 9161 1530 257 9162 1546 180 9163 1547 181 9164 1523 247 9165 1539 172 9166 1540 171 9167 1516 244 9168 1532 166 9169 1533 168 9170 1531 259 9171 1547 181 9172 1532 166 9173 1524 245 9174 1540 171 9175 1541 175 9176 1517 248 9177 1533 168 9178 1534 167 9179 1525 246 9180 1541 175 9181 1542 667 9182 1518 250 9183 1534 167 9184 1535 169 9185 1526 249 9186 1542 667 9187 1543 177 9188 1519 252 9189 1535 169 9190 1536 170 9191 1527 251 9192 1543 177 9193 1544 178 9194 1520 254 9195 1536 170 9196 1537 174 9197 1549 268 9198 1551 270 9199 1550 269 9200 1551 270 9201 1553 272 9202 1552 271 9203 1553 272 9204 1555 261 9205 1554 263 9206 1555 261 9207 1557 264 9208 1556 262 9209 1553 272 9210 1551 270 9211 1549 268 9212 1549 268 9213 1559 266 9214 1557 264 9215 1557 264 9216 1555 261 9217 1553 272 9218 1557 264 9219 1559 266 9220 1558 265 9221 1559 266 9222 1549 268 9223 1548 267 9224 1558 265 9225 1548 267 9226 1550 269 9227 1550 269 9228 1552 271 9229 1558 265 9230 1552 271 9231 1554 263 9232 1558 265 9233 1571 294 9234 1570 293 9235 1572 291 9236 1573 292 9237 1572 291 9238 1562 289 9239 1563 290 9240 1562 289 9241 1564 553 9242 1578 425 9243 1579 680 9244 1575 668 9245 1574 669 9246 1575 668 9247 1577 641 9248 1576 670 9249 1577 641 9250 1581 640 9251 1580 592 9252 1581 640 9253 1583 671 9254 1582 593 9255 1583 671 9256 1585 672 9257 1586 674 9258 1584 673 9259 1585 672 9260 1586 674 9261 1587 675 9262 1588 432 9263</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cylinder" name="Cylinder" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="Cylinder">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Navigator-material" target="#Navigator-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/models/dave_sensor_models/meshes/teledyne_whn/tx-Navigator.png b/models/dave_sensor_models/meshes/teledyne_whn/tx-Navigator.png
new file mode 100644
index 00000000..3e035888
Binary files /dev/null and b/models/dave_sensor_models/meshes/teledyne_whn/tx-Navigator.png differ
diff --git a/models/dave_worlds/worlds/dvl_world.world b/models/dave_worlds/worlds/dvl_world.world
new file mode 100644
index 00000000..4a0b7937
--- /dev/null
+++ b/models/dave_worlds/worlds/dvl_world.world
@@ -0,0 +1,360 @@
+<?xml version="1.0"?>
+<!-- Copyright (c) 2016 The UUV Simulator Authors.
+     All rights reserved.
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+
+<sdf version="1.4">
+	<world name="dvl_world">
+      <scene>
+      <!-- For turquoise ambient to match particle effect -->
+      <ambient>0.0 1.0 1.0</ambient>
+      <!-- For default gray ambient -->
+      <background>0.0 0.7 0.8</background>
+
+      <grid>false</grid>
+    </scene>
+
+		<physics name="1ms" type="ignored">
+			<max_step_size>0.001</max_step_size>
+			<real_time_factor>1.0</real_time_factor>
+		</physics>
+		<plugin
+			filename="gz-sim-physics-system"
+			name="gz::sim::systems::Physics">
+		</plugin>
+		<plugin
+			filename="gz-sim-user-commands-system"
+			name="gz::sim::systems::UserCommands">
+		</plugin>
+		<plugin
+			filename="gz-sim-scene-broadcaster-system"
+			name="gz::sim::systems::SceneBroadcaster">
+		</plugin>
+		<plugin
+			filename="gz-sim-sensors-system"
+			name="gz::sim::systems::Sensors">
+    	</plugin>
+		<plugin
+			filename="gz-sim-dvl-system"
+			name="gz::sim::systems::DopplerVelocityLogSystem">
+		</plugin>
+
+		<!-- Origin placed somewhere in the middle of the North Sea -->
+		<spherical_coordinates>
+			<latitude_deg>56.71897669633431</latitude_deg>
+			<longitude_deg>3.515625</longitude_deg>
+		</spherical_coordinates>
+
+		<plugin filename="SphericalCoords" name="dave_ros_gz_plugins::SphericalCoords"> </plugin>
+
+		<!-- Global Light Source -->
+		<light type="directional" name="sun1">
+			<pose>50 0 150 0 0 0</pose>
+			<diffuse>1 1 1 1</diffuse>
+			<specular>0.1 0.1 0.1 1</specular>
+			<direction>0.3 0.3 -1</direction>
+			<cast_shadows>false</cast_shadows>
+		</light>
+
+		<light type="directional" name="sun_diffuse_4">
+			<pose>20 0 -90 0 0 0</pose>
+			<diffuse>0.9 0.9 0.9 1</diffuse>
+			<specular>0.2 0.2 0.2 1</specular>
+			<direction>-1 0 0</direction>
+			<cast_shadows>false</cast_shadows>
+		</light>
+
+		<!-- Virtual north, east and down frame -->
+		<include>
+			<uri>
+				https://fuel.gazebosim.org/1.0/hmoyen/models/North East Down frame
+			</uri>
+			<pose>0 0 0 0 0 0</pose>
+		</include>
+
+		<!-- Sea surface -->
+		<include>
+			<uri>
+				https://fuel.gazebosim.org/1.0/OpenRobotics/models/Waves
+			</uri>
+		</include>
+
+		<include>
+			<uri>https://fuel.gazebosim.org/1.0/hmoyen/models/Sand Heightmap</uri>
+			<pose>0 0 -100 0 0 0</pose>
+		</include>
+
+		<gui fullscreen="0">
+			<!-- 3D scene -->
+			<plugin filename="MinimalScene" name="3D View">
+				<gz-gui>
+					<title>3D View</title>
+					<property type="bool" key="showTitleBar">false</property>
+					<property type="string" key="state">docked</property>
+				</gz-gui>
+
+				<engine>ogre2</engine>
+				<scene>scene</scene>
+				<ambient_light>0.4 0.4 0.4</ambient_light>
+				<background_color>0.8 0.8 0.8</background_color>
+				<camera_pose>-36.5 41.5 -24 0 0.29 -0.715</camera_pose>
+				<camera_clip>
+					<near>0.25</near>
+					<far>2500</far>
+				</camera_clip>
+			</plugin>
+
+			<!-- Plugins that add functionality to the scene -->
+			<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+				<gz-gui>
+					<property key="state" type="string">floating</property>
+					<property key="width" type="double">5</property>
+					<property key="height" type="double">5</property>
+					<property key="showTitleBar" type="bool">false</property>
+				</gz-gui>
+			</plugin>
+			<plugin filename="GzSceneManager" name="Scene Manager">
+				<gz-gui>
+					<property key="resizable" type="bool">false</property>
+					<property key="width" type="double">5</property>
+					<property key="height" type="double">5</property>
+					<property key="state" type="string">floating</property>
+					<property key="showTitleBar" type="bool">false</property>
+				</gz-gui>
+			</plugin>
+			<plugin filename="InteractiveViewControl" name="Interactive view control">
+				<gz-gui>
+					<property key="resizable" type="bool">false</property>
+					<property key="width" type="double">5</property>
+					<property key="height" type="double">5</property>
+					<property key="state" type="string">floating</property>
+					<property key="showTitleBar" type="bool">false</property>
+				</gz-gui>
+			</plugin>
+			<plugin filename="CameraTracking" name="Camera Tracking">
+				<gz-gui>
+					<property key="resizable" type="bool">false</property>
+					<property key="width" type="double">5</property>
+					<property key="height" type="double">5</property>
+					<property key="state" type="string">floating</property>
+					<property key="showTitleBar" type="bool">false</property>
+				</gz-gui>
+			</plugin>
+			<plugin filename="MarkerManager" name="Marker manager">
+				<gz-gui>
+					<property key="resizable" type="bool">false</property>
+					<property key="width" type="double">5</property>
+					<property key="height" type="double">5</property>
+					<property key="state" type="string">floating</property>
+					<property key="showTitleBar" type="bool">false</property>
+				</gz-gui>
+			</plugin>
+			<plugin filename="SelectEntities" name="Select Entities">
+				<gz-gui>
+					<anchors target="Select entities">
+						<line own="right" target="right" />
+						<line own="top" target="top" />
+					</anchors>
+					<property key="resizable" type="bool">false</property>
+					<property key="width" type="double">5</property>
+					<property key="height" type="double">5</property>
+					<property key="state" type="string">floating</property>
+					<property key="showTitleBar" type="bool">false</property>
+				</gz-gui>
+			</plugin>
+			<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
+				<gz-gui>
+					<property key="resizable" type="bool">false</property>
+					<property key="width" type="double">5</property>
+					<property key="height" type="double">5</property>
+					<property key="state" type="string">floating</property>
+					<property key="showTitleBar" type="bool">false</property>
+				</gz-gui>
+			</plugin>
+
+			<plugin filename="Spawn" name="Spawn Entities">
+				<gz-gui>
+					<anchors target="Select entities">
+						<line own="right" target="right" />
+						<line own="top" target="top" />
+					</anchors>
+					<property key="resizable" type="bool">false</property>
+					<property key="width" type="double">5</property>
+					<property key="height" type="double">5</property>
+					<property key="state" type="string">floating</property>
+					<property key="showTitleBar" type="bool">false</property>
+				</gz-gui>
+			</plugin>
+
+			<!-- World control -->
+			<plugin filename="WorldControl" name="World control">
+				<gz-gui>
+					<title>World control</title>
+					<property type="bool" key="showTitleBar">false</property>
+					<property type="bool" key="resizable">false</property>
+					<property type="double" key="height">72</property>
+					<property type="double" key="width">121</property>
+					<property type="double" key="z">1</property>
+
+					<property type="string" key="state">floating</property>
+					<anchors target="3D View">
+						<line own="left" target="left" />
+						<line own="bottom" target="bottom" />
+					</anchors>
+				</gz-gui>
+
+				<play_pause>true</play_pause>
+				<step>true</step>
+				<start_paused>true</start_paused>
+				<use_event>true</use_event>
+
+			</plugin>
+
+			<!-- World statistics -->
+			<plugin filename="WorldStats" name="World stats">
+				<gz-gui>
+					<title>World stats</title>
+					<property type="bool" key="showTitleBar">false</property>
+					<property type="bool" key="resizable">false</property>
+					<property type="double" key="height">110</property>
+					<property type="double" key="width">290</property>
+					<property type="double" key="z">1</property>
+
+					<property type="string" key="state">floating</property>
+					<anchors target="3D View">
+						<line own="right" target="right" />
+						<line own="bottom" target="bottom" />
+					</anchors>
+				</gz-gui>
+
+				<sim_time>true</sim_time>
+				<real_time>true</real_time>
+				<real_time_factor>true</real_time_factor>
+				<iterations>true</iterations>
+			</plugin>
+
+			<!-- Insert simple shapes -->
+			<plugin filename="Shapes" name="Shapes">
+				<gz-gui>
+					<property key="resizable" type="bool">false</property>
+					<property key="x" type="double">0</property>
+					<property key="y" type="double">0</property>
+					<property key="width" type="double">250</property>
+					<property key="height" type="double">50</property>
+					<property key="state" type="string">floating</property>
+					<property key="showTitleBar" type="bool">false</property>
+					<property key="cardBackground" type="string">#666666</property>
+				</gz-gui>
+			</plugin>
+
+			<!-- Insert lights -->
+			<plugin filename="Lights" name="Lights">
+				<gz-gui>
+					<property key="resizable" type="bool">false</property>
+					<property key="x" type="double">250</property>
+					<property key="y" type="double">0</property>
+					<property key="width" type="double">150</property>
+					<property key="height" type="double">50</property>
+					<property key="state" type="string">floating</property>
+					<property key="showTitleBar" type="bool">false</property>
+					<property key="cardBackground" type="string">#666666</property>
+				</gz-gui>
+			</plugin>
+
+			<!-- Translate / rotate -->
+			<plugin filename="TransformControl" name="Transform control">
+				<gz-gui>
+					<property key="resizable" type="bool">false</property>
+					<property key="x" type="double">0</property>
+					<property key="y" type="double">50</property>
+					<property key="width" type="double">250</property>
+					<property key="height" type="double">50</property>
+					<property key="state" type="string">floating</property>
+					<property key="showTitleBar" type="bool">false</property>
+					<property key="cardBackground" type="string">#777777</property>
+				</gz-gui>
+			</plugin>
+
+			<!-- Screenshot -->
+			<plugin filename="Screenshot" name="Screenshot">
+				<gz-gui>
+					<property key="resizable" type="bool">false</property>
+					<property key="x" type="double">250</property>
+					<property key="y" type="double">50</property>
+					<property key="width" type="double">50</property>
+					<property key="height" type="double">50</property>
+					<property key="state" type="string">floating</property>
+					<property key="showTitleBar" type="bool">false</property>
+					<property key="cardBackground" type="string">#777777</property>
+				</gz-gui>
+			</plugin>
+
+			<!-- Video recorder -->
+			<plugin filename="VideoRecorder" name="VideoRecorder">
+				<gz-gui>
+					<property key="resizable" type="bool">false</property>
+					<property key="x" type="double">300</property>
+					<property key="y" type="double">50</property>
+					<property key="width" type="double">50</property>
+					<property key="height" type="double">50</property>
+					<property key="state" type="string">floating</property>
+					<property key="showTitleBar" type="bool">false</property>
+					<property key="cardBackground" type="string">#777777</property>
+				</gz-gui>
+
+				<record_video>
+					<use_sim_time>true</use_sim_time>
+					<lockstep>false</lockstep>
+					<bitrate>4000000</bitrate>
+				</record_video>
+			</plugin>
+
+			<!-- Inspector -->
+			<plugin filename="ComponentInspector" name="Component inspector">
+				<gz-gui>
+					<property type="string" key="state">docked_collapsed</property>
+				</gz-gui>
+			</plugin>
+
+			<!-- Entity tree -->
+			<plugin filename="EntityTree" name="Entity tree">
+				<gz-gui>
+					<property type="string" key="state">docked_collapsed</property>
+				</gz-gui>
+			</plugin>
+
+			<!-- View angle -->
+			<plugin filename="ViewAngle" name="View angle">
+				<gz-gui>
+					<property type="string" key="state">docked_collapsed</property>
+				</gz-gui>
+			</plugin>
+
+		</gui>
+
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <graded_buoyancy>
+        <default_density>1025</default_density>
+        <density_change>
+          <above_depth>0</above_depth>
+          <density>1</density>
+        </density_change>
+      </graded_buoyancy>
+    </plugin>
+
+	</world>
+</sdf>