World library

Worlds live in models/posim_worlds/worlds. Choose a world by its filename without the .world extension.

Start a world

ros2 launch posim_demos posim_world.launch.py \
  world_name:=posim_ocean_waves headless:=true

The filename and internal world name can differ. posim_ocean_waves.world declares oceans_waves, which appears in Gazebo topic and service paths. Read the <world name="…"> element before constructing a path.

Choose by experiment

Experiment	World
Initial vehicle setup	`posim_ocean_waves`
Underwater image effects	`camera_tutorial`
DVL observations	`dvl_world`
USBL interrogation	`usbl_tutorial`
Current configuration	`ocean_current_plugin`
Coastal/geographic scene	`posim_Santorini`
Sonar scene	`posim_multibeam_sonar` and sonar-named ocean worlds
Manipulation/task objects	`posim_bimanual_example`, `posim_plug_and_socket`, `posim_electrical_mating`

Sonar-specific worlds require the sonar backend. First-use Fuel references may download models before a scene is ready.

Source catalog

The list below is generated from the world files in this checkout when the website is built. Open a file to see its systems, included models, origin, lights and camera configuration.

World SDF
`camera_tutorial`
`dvl_world`
`new_dvl`
`ocean_current_plugin`
`posim_Santorini`
`posim_bimanual_example`
`posim_electrical_mating`
`posim_graded_seabed`
`posim_integrated`
`posim_multibeam_sonar`
`posim_ocean_models`
`posim_ocean_waves`
`posim_ocean_waves_mossy_ground`
`posim_ocean_waves_sonar`
`posim_ocean_waves_sonar_integrated`
`posim_ocean_waves_transient_current`
`posim_plug_and_socket`
`usbl_tutorial`

Compose another environment

Copy a suitable SDF into models/posim_worlds/worlds with a new filename and world name. Use installed resource URIs for local models. Rebuild and source the workspace, then launch the new filename. See Heightmap terrain for terrain geometry and Objects for task assets.