Marine robotics simulation is in its elementary stages, and the community stands to benefit from a holistic simulation toolchain, of which abundant options exist for dry land. Underwater simulation poses unique challenges, including but not limited to hydrodynamics, perception, and physical and chemical properties of water important for both research and field experiments. In this talk, motivated by real-world field applications, we highlight an array of simulated acoustic sensors and science sensors that measure water properties. Exercised in basic underwater environments in Ignition and Gazebo, they are a small but pertinent step toward the grand wish of a comprehensive simulation.
