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Follow this for installing instructions. Assumming you have downloaded and added to your workspace the package "underwater_simulator" the command

rosdep install UWSim

should install the required dependencies. The error is "Missing resource UWSim", which means that ROS cannot find UWSim. Test if you can do a "roscd UWSim". If you cannot, then you have to add UWSim to your workspace.

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Added tutorial information

Follow this for installing instructions. Assumming you have downloaded and added to your workspace the package "underwater_simulator" the command

rosdep install UWSim

should install the required dependencies. The error is "Missing resource UWSim", which means that ROS cannot find UWSim. Test if you can do a "roscd UWSim". If you cannot, then you have to add UWSim to your workspace.

To add this package to your workspace, follow this tutorial. I recommend you to follow all the tutorials.