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Hi,

Problem is you are adding a main function in each file you are adding. Besides this, I'm not sure if that is what you want to do as you are adding code to the UWSim core and I guess you are not accessing UWSim internal information or modifying its behavior.

But as I said I'm just guessing you do not need to modify UWSim core, so adding a publisher and subscriber to your AUV code should be enough (outside UWSim) unless you want to do something more "realistic" simulating communications through water requiring access to vehicle positions, scene, environment... (In that case I would suggest reading wiki it is still incomplete but a good starting point).