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POSIM Quickstart — select and source your environment first.

Use POSIM Docker Guide for the digest-pinned published candidate or POSIM Native Installation for a source build. The two are not the same tested revision. PR #5 remains unmerged; WGPU #6 and WAM-V #7 are not included in these candidates.

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POSIM Quickstart

Choose POSIM Docker Guide or POSIM Native Installation before continuing. Run one example at a time. The retained dave_* names are the actual package and model identifiers.

Prepare two terminals

Terminal A — run the simulation. Use the sourced container shell from the Docker guide, or the sourced Bash shell from the native installation guide.

Terminal B — inspect the output. Keep Terminal A running. Choose the matching setup below before using any Check command on this page.

Docker: open a second host terminal and enter the same container.

docker exec -it posim-quickstart bash

Then run these commands inside that container shell:

source /opt/ros/lyrical/setup.bash
export POSIM_WS="${DAVE_WS:-${DAVE_UNDERLAY:-}}"
if [ -z "$POSIM_WS" ] || [ ! -r "$POSIM_WS/install/setup.bash" ]; then
  echo "POSIM workspace not found. Check the image and Docker guide." >&2
  exit 1
fi
source "$POSIM_WS/install/setup.bash"

Use your chosen container name if it is not posim-quickstart. Do not source host workspace files inside a container.

Native Ubuntu: open a second Bash terminal.

source /opt/ros/lyrical/setup.bash
source "$HOME/.ros_ardusub_env/env"
source ~/posim_ws/install/setup.bash

Use the same workspace and ROS/Gazebo discovery settings in both native terminals.

First world

Run — Terminal A:

ros2 launch dave_demos dave_world.launch.py \
  world_name:=dave_ocean_waves headless:=true

Check — Terminal B (Gazebo Transport):

gz topic -e -t /world/oceans_waves/clock