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POSIM β Platform for Ocean Simulation Β· 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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The source catalog contains 18 world descriptions. This is a file inventory, not a claim that all files passed the 14-path Docker matrix. A scenario can reuse the same world with different robots or sensors.
On 2026-10-01, each installed world file was checked in a fresh container for world readiness, advancing simulation, explicitly named direct models and shutdown. The initial 50-second startup-budget test recorded 13 PASS, 2 FAIL and 3 BACKEND_UNAVAILABLE.
The two failures, dave_integrated.world and dave_ocean_models.world, were still downloading Fuel assets when the initial test stopped them. Both passed a separate 240-second-budget diagnostic, with scene responses after approximately 111 seconds and 90 seconds, respectively. The original failures remain in the record. This is not a uniform-condition 15/15 pass rate or an all-world offline test.
The three backend-unavailable files were dave_multibeam_sonar.world, dave_ocean_waves_sonar.world and dave_ocean_waves_sonar_integrated.world. They lacked the required CUDA sonar runtime in this environment. Their scene files do not establish sensor output.
These are basic execution checks, not validation of every sensor, task, robot/world combination or repeated-run reliability. They apply to the pinned ARM64 candidate, not arbitrary main or AMD64 builds. Exact image, commands and logs: POSIM Development & Release Status.
ros2 launch dave_demos dave_world.launch.py \
world_name:=dave_ocean_waves headless:=true
world_name is the file stem without .world. This world-only entry accepts headless and verbose; it does not use the robot entry's gui argument. Omit headless:=true for a configured graphical session. Assets are resolved from the installed dave_worlds share, not an absolute source checkout.