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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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This is a source-layout reference, not a newly executed end-to-end tutorial. Start from the nearest installed POSIM descriptor rather than copying obsolete Gazebo Classic plugins.
Put the descriptor at models/dave_robot_models/description/YOUR_MODEL/model.sdf. Place companion meshes/configuration in the package and update resource URIs, link names, joint names and bridge mappings together. YOUR_MODEL is a placeholder for your chosen directory name, not an existing tested model.
The package already installs description, launch, meshes and config and provides a resource hook. Do not add a duplicate hook or edit generated install/ files. Inspect CMakeLists.txt before extending it.
Use POSIM Native Installation to build the workspace. Check that the installed descriptor resolves its assets from outside the source checkout. Use ros2 launch dave_demos dave_robot.launch.py --show-args before selecting your new descriptor with namespace.
Check model spawn, world clock, expected topics and frames, control connections and clean Ctrl+C shutdown. Test GUI/control separately from headless execution. A CUDA-equipped descriptor additionally needs a working sonar backend. Save source revision, launch command and received payloads; do not count an added descriptor as one of the already tested candidate paths.