Many manufacturers provide a control interface, such as the RECON interface on the REMUS AUV. This allows users to add ROS to their AUV. Are any folks here using a hybrid architecture? Have you developed a ROS node for your COTS AUV?
I'm optimistic that folks have a ROS node for the REMUS and IVER vehicle interfaces. I'll send your request to folks that operate these AUVs and see if we can get a single solution. Seems like a good wheel to avoid reinventing.