Problems Implementing DVL sensor plugin standalone

[scole02]

Ubuntu 20.04, Ignition Garden (Source)

Hi I am attempting to add the DVL sensor to an ROV sdf. I've compiled the lrauv_ignition_plugins, added the plugin tag to my world file, and added the sensor tag to my model file.

However, after starting the simulation nothing is being published at my dvl topic ("/model/dvl"). And the topic does not appear when ign topic -l is ran at the command line.

Running the simulation with debug logs, only two logs are printed that refer to the DVL:

[Dbg] [SystemManager.cc:55] Loaded system [tethys::DopplerVelocityLogSystem] for entity [1]
[Dbg] [DopplerVelocityLogSystem.cc:250] Found custom sensor [hd_manual::base_link_rov::teledyne_pathfinder_dvl] of 'dvl' type!

I added debug print statements at the top of DopplerVelocityLog::Load(), DopplerVelocityLog::Update(), DopplerVelocityLog::PostUpdate() and it appears that this code is never reached.

Possible Problems Are there additional custom lrauv plugins that the DVL sensor relies on (Comms)?
Could errors in the rendering be preventing the sensor code form running?

Any help would be much appreciated!