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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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Heightmap world reference

The old page was a placeholder. This page now identifies the actual POSIM examples and installation layout; it does not claim that a new custom heightmap procedure has been runtime-validated.

Existing files to read

• Santorini world
• Santorini heightmap asset
• Graded seabed world for a separate seabed example.
• World install/resource rules

Adding your own terrain

Keep the world in models/dave_worlds/worlds and the terrain assets inside installed package media. In the SDF, keep visual and collision geometry aligned, choose horizontal/vertical scale and pose deliberately, and use package-resolvable resources instead of a developer's absolute path. Rebuild and source the workspace after source changes.

Use the existing Santorini SDF as a structural reference, not a promise that every raster format or scale will work unchanged. Confirm the selected renderer/physics support your asset and check the loaded geometry visually and through collision behavior.

Verification checklist

• [ ] World file and terrain asset exist under the installed package share.
• [ ] Launch succeeds from outside the source checkout.
• [ ] Terrain elevation, scale and collision agree with the intended scene.
• [ ] Screenshots record the actual world filename, command, revision and camera pose.
• [ ] Missing Fuel resources and backend failures are reported, not treated as successful terrain tests.

See POSIM World Library for the exact catalog and launch entry.