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You can always create a new static transform from ENU to NED and use that coordinate system for your AUV.
You can do that in a terminal by running:

rosrun tf static_transform_publisher 0 0 0 1.57 0 3.14 world world_ned 30

where world and world_ned are the respected ENU and NED frames.

or simply put the following inside a .launch file:

<node pkg="tf" type="static_transform_publisher" name="ned_publisher" args="0 0 0 1.57 0 3.14 world world_ned 30"/>

and use the world_ned frame for the AUV