Rename DAVE packages and Gazebo namespaces to POSIM

.docker/lyrical.amd64.dockerfile

@@ -11,9 +11,9 @@ RUN apt-get update && \
     rm -rf /var/lib/apt/lists/*
 
 # Install ROS 2 Lyrical, Gazebo Jetty, ArduSub, and MAVROS from this checkout.
-COPY extras /tmp/dave-extras
-RUN DAVE_EXTRAS_DIR=/tmp/dave-extras \
-    bash /tmp/dave-extras/ros-lyrical-gz-jetty-install.sh
+COPY extras /tmp/posim-extras
+RUN POSIM_EXTRAS_DIR=/tmp/posim-extras \
+    bash /tmp/posim-extras/ros-lyrical-gz-jetty-install.sh
 ENV LD_LIBRARY_PATH=/opt/waves/lib
 ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/waves/lib:/opt/ardusub_ws/ardupilot_gazebo/build
 ENV GZ_SIM_RESOURCE_PATH=/opt/asv_wave_sim/gz-waves-models/models:/opt/asv_wave_sim/gz-waves-models/world_models:/opt/ardusub_ws/ardupilot_gazebo/models:/opt/ardusub_ws/ardupilot_gazebo/worlds
@@ -37,29 +37,29 @@ RUN curl -L "https://download.mozilla.org/?product=firefox-latest-ssl&os=linux64
 
 # Build the exact POSIM revision supplied as the Docker build context. Import the
 # companion repositories, but never replace the checked-out POSIM source.
-ENV DAVE_WS=/opt/dave_ws
-WORKDIR $DAVE_WS/src
-COPY . dave
+ENV POSIM_WS=/opt/posim_ws
+WORKDIR $POSIM_WS/src
+COPY . posim
 RUN vcs import --shallow --skip-existing \
-      --input dave/extras/repos/posim.lyrical.repos
+      --input posim/extras/repos/posim.lyrical.repos
 
 RUN apt-get update && \
     rosdep update --rosdistro "$ROS_DISTRO" && \
     rosdep install --rosdistro "$ROS_DISTRO" -iy --from-paths . && \
     rm -rf /var/lib/apt/lists/*
 
-WORKDIR $DAVE_WS
+WORKDIR $POSIM_WS
 RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
     colcon build --merge-install --executor sequential --symlink-install
 
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
-    echo "source $DAVE_WS/install/setup.bash" >> /root/.bashrc && \
+    echo "source $POSIM_WS/install/setup.bash" >> /root/.bashrc && \
     echo "export PS1='\[\e[1;36m\]\u@POSIM_docker\[\e[0m\]\[\e[1;34m\](\$(hostname | cut -c1-12))\[\e[0m\]:\[\e[1;34m\]\w\[\e[0m\]\$ '" >> /root/.bashrc
 
-RUN touch /root/.dave_entrypoint && \
-    printf '\033[1;36mPOSIM - Platform for Ocean Simulation\033[0m\n' >> /root/.dave_entrypoint && \
-    printf '\033[1;33mROS 2 Lyrical · Gazebo Jetty · ArduSub · MAVROS\033[0m\n\n' >> /root/.dave_entrypoint && \
-    echo 'cat /root/.dave_entrypoint' >> /root/.bashrc
+RUN touch /root/.posim_entrypoint && \
+    printf '\033[1;36mPOSIM - Platform for Ocean Simulation\033[0m\n' >> /root/.posim_entrypoint && \
+    printf '\033[1;33mROS 2 Lyrical · Gazebo Jetty · ArduSub · MAVROS\033[0m\n\n' >> /root/.posim_entrypoint && \
+    echo 'cat /root/.posim_entrypoint' >> /root/.bashrc
 
 WORKDIR /root
 

.docker/lyrical.arm64v8.dockerfile

@@ -111,18 +111,18 @@ RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-inf
       ros-${ROS_DISTRO}-image-view \
       python3-rosdep python3-vcstool python3-colcon-common-extensions
 
-# --- DAVE workspace ---
+# --- POSIM workspace ---
 # Build the exact checked-out revision supplied as the Docker build context.
-ENV DAVE_UNDERLAY=/home/$USER/dave_ws
-WORKDIR $DAVE_UNDERLAY/src
-COPY . dave
-RUN chown -R $USER:$USER $DAVE_UNDERLAY/src/dave
+ENV POSIM_UNDERLAY=/home/$USER/posim_ws
+WORKDIR $POSIM_UNDERLAY/src
+COPY . posim
+RUN chown -R $USER:$USER $POSIM_UNDERLAY/src/posim
 
 # Keep the companion repositories from the inherited DAVE workspace, while
 # preserving the exact POSIM checkout copied above.
 RUN vcs import --shallow --skip-existing \
-      --input dave/extras/repos/posim.lyrical.repos && \
-    chown -R $USER:$USER $DAVE_UNDERLAY
+      --input posim/extras/repos/posim.lyrical.repos && \
+    chown -R $USER:$USER $POSIM_UNDERLAY
 
 RUN apt-get update && \
     (rosdep init 2>/dev/null || true) && \
@@ -131,7 +131,7 @@ RUN apt-get update && \
     rm -rf /var/lib/apt/lists/*
 
 USER $USER
-WORKDIR $DAVE_UNDERLAY
+WORKDIR $POSIM_UNDERLAY
 RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \
     colcon build --merge-install --executor sequential --symlink-install
 
@@ -180,7 +180,7 @@ RUN git clone --depth 1 https://github.com/ArduPilot/ardupilot_gazebo.git \
 
 # Waves are built during the normal POSIM image build. The upstream checkout
 # and GPL notices stay separate from POSIM under /opt/asv_wave_sim.
-RUN bash $DAVE_UNDERLAY/src/dave/extras/install-waves.sh
+RUN bash $POSIM_UNDERLAY/src/posim/extras/install-waves.sh
 ENV LD_LIBRARY_PATH=/opt/waves/lib
 ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/waves/lib:/home/$USER/ardupilot_gazebo/build
 ENV GZ_SIM_RESOURCE_PATH=/opt/asv_wave_sim/gz-waves-models/models:/opt/asv_wave_sim/gz-waves-models/world_models:/home/$USER/ardupilot_gazebo/models:/home/$USER/ardupilot_gazebo/worlds
@@ -217,7 +217,7 @@ RUN curl -L "https://download.mozilla.org/?product=firefox-latest-ssl&os=linux64
 
 USER root
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USER/.bashrc && \
-    echo "source $DAVE_UNDERLAY/install/setup.bash" >> /home/$USER/.bashrc && \
+    echo "source $POSIM_UNDERLAY/install/setup.bash" >> /home/$USER/.bashrc && \
     echo "export PATH=/home/$USER/.local/bin:/usr/local/bin:\$PATH" >> /home/$USER/.bashrc && \
     echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardupilot_gazebo/build:\${GZ_SIM_SYSTEM_PLUGIN_PATH:-}" >> /home/$USER/.bashrc && \
     echo "export GZ_SIM_RESOURCE_PATH=/home/$USER/ardupilot_gazebo/models:/home/$USER/ardupilot_gazebo/worlds:\${GZ_SIM_RESOURCE_PATH:-}" >> /home/$USER/.bashrc && \
@@ -228,9 +228,9 @@ RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USER/.bashrc && \
     echo "export PS1='\[\e[1;36m\]\u@POSIM_docker\[\e[0m\]:\[\e[1;34m\]\w\[\e[0m\]\$ '" >> /home/$USER/.bashrc
 
 # --- Run (no systemd inside this container) ---
-COPY extras/docker-arm64-entrypoint.sh /usr/local/bin/dave-rdp-entrypoint
-RUN chmod 0755 /usr/local/bin/dave-rdp-entrypoint
-CMD ["/usr/local/bin/dave-rdp-entrypoint"]
+COPY extras/docker-arm64-entrypoint.sh /usr/local/bin/posim-rdp-entrypoint
+RUN chmod 0755 /usr/local/bin/posim-rdp-entrypoint
+CMD ["/usr/local/bin/posim-rdp-entrypoint"]
 
 LABEL org.opencontainers.image.title="POSIM" \
       org.opencontainers.image.description="Platform for Ocean Simulation" \

.github/ISSUE_TEMPLATE/good-first-issue.md

@@ -30,11 +30,11 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa
 
 - [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/lyrical/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace.html)
 
-- [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ros2_ws/src/dave`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `dave` folder before cloning your own fork)
+- [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ros2_ws/src/posim`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `posim` folder before cloning your own fork)
 
 - [ ] **Checkout a new branch** using `git checkout -b <branch_name>`
 
-- [ ] 🤖 **Apply `pre-commit`** auto formatting, by running `pip3 install pre-commit` and running `pre-commit install` in the dave repo.
+- [ ] 🤖 **Apply `pre-commit`** auto formatting, by running `pip3 install pre-commit` and running `pre-commit install` in the POSIM repo.
 
 - [ ] 💾 **Commit and Push** your changes
 

.github/workflows/docker-amd64.yml

@@ -10,7 +10,7 @@ on:
       - ".docker/**"
       - ".dockerignore"
       - ".github/workflows/docker-amd64.yml"
-      - "dave_interfaces/**"
+      - "posim_interfaces/**"
       - "examples/**"
       - "extras/**"
       - "gazebo/**"

.github/workflows/docker-arm64v8.yml

@@ -10,7 +10,7 @@ on:
       - ".docker/**"
       - ".dockerignore"
       - ".github/workflows/docker-arm64v8.yml"
-      - "dave_interfaces/**"
+      - "posim_interfaces/**"
       - "examples/**"
       - "extras/**"
       - "gazebo/**"
@@ -43,9 +43,17 @@ jobs:
     steps:
       - name: Configure non-interactive Docker credentials
         run: |
+          # Read the selected daemon before isolating credentials. A new
+          # DOCKER_CONFIG otherwise loses Docker Desktop's desktop-linux context
+          # and falls back to the absent /var/run/docker.sock on macOS.
+          docker_host="${DOCKER_HOST:-$(docker context inspect --format '{{.Endpoints.docker.Host}}')}"
           docker_config="$RUNNER_TEMP/docker-config"
           mkdir -p "$docker_config"
+          chmod 700 "$docker_config"
           printf '{}\n' > "$docker_config/config.json"
+          chmod 600 "$docker_config/config.json"
+          echo "DOCKER_HOST=$docker_host" >> "$GITHUB_ENV"
+          echo "DOCKER_CONTEXT=" >> "$GITHUB_ENV"
           echo "DOCKER_CONFIG=$docker_config" >> "$GITHUB_ENV"
 
       - name: Checkout repository

README.md

@@ -7,7 +7,7 @@ manipulation tasks for ROS 2 and Gazebo.
 POSIM continues the [DAVE](https://github.com/IOES-Lab/dave) codebase, originally
 developed as [Project DAVE](https://github.com/Field-Robotics-Lab/dave). This
 repository preserves the source history, existing copyright notices, and
-Apache-2.0 license. See [origin and compatibility](docs/compatibility.md).
+Apache-2.0 license.
 
 ## Current development version
 
@@ -16,47 +16,41 @@ The initial POSIM import is based on DAVE `ros2` commit
 [`8a3f6ab`](https://github.com/IOES-Lab/dave/commit/8a3f6abc2ba14ced787aff8befa0201f6c80ca8c).
 POSIM 1.0 has not been released.
 
-Existing ROS package names and launch commands remain available. For example,
-the demonstration package is still called `dave_demos`. The initial import
-contains the CUDA sonar implementation; the WGPU work in
-[DAVE PR #44](https://github.com/IOES-Lab/dave/pull/44) is not included in `main`.
-Without a CUDA toolkit, the CUDA-specific sonar targets are skipped during
-configuration. A successful build on ARM64 therefore does not establish sonar
-availability.
+ROS packages, plugin namespaces and launch files use the `posim_` prefix.
+Rebuild in a clean workspace when migrating from the earlier `dave_` names.
+Existing third-party source attribution is retained.
 
 ## Get started
 
-1. Follow the [Ubuntu installation guide](docs/installation.md), or build a
-   [Docker image from this checkout](docs/docker.md).
+1. Run `extras/ros-lyrical-gz-jetty-install.sh`, or build `.docker/lyrical.amd64.dockerfile` / `.docker/lyrical.arm64v8.dockerfile` from this checkout.
 2. Open a terminal with the installed ROS and workspace environments loaded.
 3. Start a world:
 
    ```bash
-   ros2 launch dave_demos dave_world.launch.py world_name:=dave_ocean_waves
+   ros2 launch posim_demos posim_world.launch.py world_name:=posim_ocean_waves
    ```
 
 For a server-only run, append `headless:=true`. On a desktop with rendering
 available, start REXROV with:
 
 ```bash
-ros2 launch dave_demos dave_robot.launch.py \
-  namespace:=rexrov world_name:=dave_ocean_waves z:=-5 paused:=false
+ros2 launch posim_demos posim_robot.launch.py \
+  namespace:=rexrov world_name:=posim_ocean_waves z:=-5 paused:=false
 ```
 
 World and model references may download assets from Gazebo Fuel on first use.
-More examples are in [the demo guide](examples/dave_demos/README.md).
+More examples are in [the demo guide](examples/posim_demos/README.md).
 
 ## Library contents
 
 - `models/`: world, vehicle, sensor, and object descriptions and their resources.
 - `gazebo/`: model, sensor, world, ROS bridge, and multibeam sonar plugins.
-- `examples/dave_demos/`: world, robot, sensor, and object launch entry points.
-- `dave_interfaces/`: ROS messages and services used by the library.
+- `examples/posim_demos/`: world, robot, sensor, and object launch entry points.
+- `posim_interfaces/`: ROS messages and services used by the library.
 - `extras/`: dependency installation, repository manifests, and development tools.
 
-The [legacy DAVE Wiki](https://dave-ros2.notion.site) remains available for
-background material. Follow this repository's installation instructions for
-POSIM; the legacy Wiki is not a POSIM release manual.
+Documentation is maintained separately in Notion by IOES-Lab.
+The repository contains executable examples and dependency build instructions.
 
 ## Contributing
 
@@ -73,8 +67,6 @@ pre-commit install
 pre-commit run --all-files
 ```
 
-Maintainers should read [CI and image configuration](docs/maintainer-setup.md)
-before enabling Docker builds or publication in this new repository.
 
 ## License