UWSim, the Underwater Simulator
Installation instructions here:
http:https://www.irs.uji.es/uwsim/wiki/index.php?title=Installing_UWSim
Project website:
http:https://www.irs.uji.es/uwsim
Please join our mailing list:
https://groups.google.com/a/uji.es/forum/#!forum/uji-ros-pkg-support