Hi

Im doing some swarm underwater simulation with the UUV simulator. So would like to model the environment with some RF transmitter and receiver.

I wanted to model a acoustic environment in gazebo where I needed to get the distance between the two robots(fishes).I didn't find any Gazebo plugin/models/sensors for this function. Does any one know of any source to achieve this? Also if I had to write my own plugins, can anyone provide me sources to write them and interface with ROS? Or any acoustic sensor model that provide such function and have already gazebo plugins?

Thanks