As a part of our creating documentation effort in the UWSim wiki, we have created a developer tutorial about how to create your own device. Long ago we included the Device manager that helps creating different kind of devices in UWSim but we had no time to write about how to use it. We hope this tutorial encourages the development of new simulated sensors and makes UWSim more useful for everyone.

The tutorial still misses some parts, such as interacting with the physics engine, but it is complete in the terms of creating a device and publishing to ROS. If you get lost trying to follow it please let us know so we can improve it!.