How do I integrate Underwater GPS G2 with my BlueROV2?

We have made a dedicated integration guide which we suggest you follow:
https://waterlinked.github.io/underwater-gps/integration/bluerov-integration/
 
The integration guide is based on the BlueROV2 Integration Kit which is available here: https://store.waterlinked.com/product/bluerov2-integration-kit/