  There exist a wide range of options for field robotics research using ground
and aerial mobile robots, but there are comparatively few robust and
research-ready uncrewed surface vessels (USVs). This workshop paper starts with
a snapshot of USVs currently available to the research community and then
describes "OtterROS", an open source ROS 2 solution for the Otter USV. Field
experiments using OtterROS are described, which highlight the utility of the
Otter USV and the benefits of using ROS 2 in aquatic robotics research. For
those interested in USV research, the paper details recommended hardware to run
OtterROS and includes an example ROS 2 package using OtterROS, removing
unnecessary non-recurring engineering from field robotics research activities.
