This is a cool project: The S. S. Stormwater. Australian maker Kurt added a OpenROV‘s electronics to a series of PVC pipes. The pods to either side house the motors, while the next two pods hold lights. The BeagleBone and OpenROV cape (shield) slide in to the main compartment, which also has a gimbal-mounted camera. All Kurt needs to do is add the vertical thruster, pressure-test the hull, and add the tether.