Migrate ocean waves and WAM-V from DAVE #27

[yeseorizi]

Purpose and provenance

Continue the ocean-wave and WAM-V contribution in POSIM while preserving POSIM's current platform and repository configuration.

• Original contribution and discussion: IOES-Lab/dave#27, opened by Woen-Sug Choi (@woensug-choi).
• Source head: 154887e306fb1c0403057ec7dc6d1603a33116a6.
• POSIM baseline merged into that branch: e05a9fb7d25ec21399f897e9bddfcabc4493b703.
• All 7 commits listed by the source PR remain in the ancestry with their original SHAs and author metadata. Existing upstream/file attribution and asset notices are retained. Original comments, review context and historical demo evidence remain available through the source PR.

What is carried over

Ocean-wave simulation/rendering sources and tests, WAM-V descriptions and bridge configuration, wave/world-model assets, resource hooks, and the additional wave/WAM-V worlds. The diff contains 234 files against the pinned POSIM baseline.

POSIM integration decisions

• Merge the POSIM baseline without replacing its workflows, Lyrical/Jetty setup, repository manifests, documentation or Docker image naming.
• Retain the source change to dave_ocean_waves.world's maximum step size (0.001 → 0.01) while preserving POSIM's newer geographical coordinates and GUI camera configuration. The step-size change still needs simulation review.
• In a separate, minimal cleanup commit, escape an inherited literal & in the Duck model metadata URL and remove two trailing blank lines reported by git diff --check. No simulation algorithm was rewritten.
• Apart from the combined world file and those three cleanup files, all 230 other source-PR files are byte-identical to the original head.

Checks and remaining work

• Original source head and every listed source PR commit are ancestors of this branch.
• POSIM baseline is an ancestor; its workflows and repository manifests are unchanged.
• git diff --check, changed Python syntax, and XML syntax for 54 changed XML/SDF/world/config/mesh files pass. XML parsing is not Gazebo semantic validation.
• A non-mutating merge preview with POSIM #5 reports no textual conflict; this is not a build/runtime result.
• Gazebo Jetty port is still required: the retained ocean-waves CMake project explicitly targets Harmonic libraries (gz-sim8, gz-rendering8, gz-transport13, etc.). Its discovery/build/install integration with the parent package needs review.
• Update the inherited historical README's host-specific paths and Jazzy/Ogre workaround after validating the new installation. They are not endorsed as current POSIM Quickstart instructions.
• Build, install and run the wave/WAM-V scenarios on the target platforms, including resource lookup and plugin loading. No new build or simulation run is claimed here.

Draft / CI note: migration commits use [skip ci] to avoid automatically starting long self-hosted builds before the imported code is reviewed. Repository CI/publication settings were not changed. Before marking this ready, push a follow-up commit without the skip marker and run the required checks.

The original DAVE PR remains open until the migration is reviewed and closure is coordinated.