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POSIM — Platform for Ocean Simulation · documentation checked 2026-10-01

Target: ROS 2 Lyrical / Gazebo Jetty. Current source. Compatibility names such as dave_* are intentional. Start with POSIM Installation and POSIM Quickstart & Backend Support.

Source documentation and inherited illustrations do not certify every runtime configuration. Published Docker candidates, development main, and experimental WGPU are distinct states.

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Slocum glider

The descriptor remains glider_slocum in dave_robot_models. Source the environment first; no rebuild is needed when using a prebuilt image.

Empty world

ros2 launch dave_demos dave_robot.launch.py \
  namespace:=glider_slocum world_name:=empty.sdf z:=0.2 paused:=false \
  gui:=false headless:=true use_teleop:=false use_web_joystick:=false

Waves world

ros2 launch dave_demos dave_robot.launch.py \
  namespace:=glider_slocum world_name:=dave_ocean_waves x:=4 z:=-1.5 paused:=false \
  gui:=false headless:=true use_teleop:=false use_web_joystick:=false

These entries exercise descriptor/world composition, not autonomous glider mission performance. Check the world clock, spawned model and received data before stopping with Ctrl+C. GUI viewing (gui:=true headless:=false) needs a configured display and is outside the published headless acceptance scope.

Inherited illustration