POSIM stands for Platform for Ocean Simulation. The project continues the
maritime simulation library developed as DAVE. This first import retains the
ancestry of IOES-Lab/dave, including its upstream history from
Field-Robotics-Lab/dave.
- Source: https://github.com/IOES-Lab/dave
- Source branch:
ros2 - Source revision:
8a3f6abc2ba14ced787aff8befa0201f6c80ca8c - POSIM destination: https://github.com/IOES-Lab/POSIM
- POSIM default branch:
main
The existing DAVE repository is retained. Its issues, pull requests, releases, and Actions results do not become POSIM records automatically. Links to DAVE changes in this documentation describe provenance, not POSIM release results. Historical DAVE tags are not republished as POSIM releases.
| Interface | Initial POSIM behavior |
|---|---|
| ROS packages | The 13 existing package identifiers remain unchanged. |
| Launch files | dave_world, dave_robot, dave_sensor, and dave_object entry points are retained. |
| Resources | Package-share paths, model identifiers, world filenames, and Fuel URIs are retained. |
| ROS interfaces | Message/service definitions, configured topics, and frame names are retained. |
| Installation helper | extras/ros-lyrical-gz-jetty-install.sh and DAVE_EXTRAS_DIR remain supported. |
| Workspace directory | Source instructions use posim_ws/src/dave; the checkout key stays dave. |
| Docker workspace | /opt/dave_ws on AMD64 and /home/docker/dave_ws on ARM64 remain unchanged. |
| Repository manifests | posim.lyrical.repos is preferred; dave.lyrical.repos has the same repository entries. |
dave_* names in launch commands, package dependencies, and installed resource
paths are intentional. Renaming these identifiers requires a separate migration
with compatibility tests; the project name change alone does not require it.
The initial POSIM import changes project documentation, repository URLs, Docker branding, and CI configuration. It retains the simulator source, descriptors, launch implementations, and package manifests from the source revision.
The lint workflow also incorporates the lint configuration proposed in
DAVE PR #74 at commit
cfae083f4468c369fe002418d913cb5a5612a9bc, adapted to main. This uses direct
format checks with read-only repository permissions and matching formatter
versions. Only its lint workflow is carried over.
WGPU integration is still being reviewed in
DAVE PR #44. It is not part of this
initial main branch. Its inclusion and validation must be recorded in a later
change before POSIM advertises WGPU support.
This is development work toward the first POSIM release. No v1.0.0 tag is
created by this import, and inherited package version fields are unchanged.
Before release, record the exact POSIM commit, dependency revisions, build
results, image digests, and runtime checks. Earlier DAVE or local-candidate
test results must retain their original source revision labels.