<aside> 📘

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.

</aside>

Before the examples, source ROS and the matching workspace using POSIM Native Installation or POSIM Docker Guide. Commands containing ~/posim_ws below refer to a native source workspace; in a prebuilt container use its documented $POSIM_WS/install/setup.bash instead. Existing illustrations are retained from the DAVE documentation and are not new POSIM runtime captures.

🚀 Quickstart

The SphericalCoords plugin for Gazebo integrates spherical coordinate manipulation capabilities into the Gazebo simulation environment. It allows users to get, set, and transform spherical coordinates within the simulation. The plugin is designed to interface with ROS 2, providing services to interact with the spherical coordinates system.

First, run the dave_bimanual_example world:

ros2 launch dave_demos dave_world.launch.py world_name:=dave_bimanual_example verbose:=true headless:=true

Run

ros2 service list

to check if the services are up. It should return

/gz/get_origin_spherical_coordinates
/gz/set_origin_spherical_coordinates
/gz/transform_from_spherical_coordinates
/gz/transform_to_spherical_coordinates

among other services.

📟 How to: services

1. GetOriginSphericalCoord 🔺

Service Name: /gz/get_origin_spherical_coordinates

This service retrieves the current spherical coordinate origin of the Gazebo world.

Request: dave_interfaces::srv::GetOriginSphericalCoord::Request

• No request fields.

Response: dave_interfaces::srv::GetOriginSphericalCoord::Response

• latitude_deg (float64): Latitude in degrees.