diff --git a/examples/community/bluerov2_reconciled_path_control_ros2.md b/examples/community/bluerov2_reconciled_path_control_ros2.md
index 070a9d58..39a2b8d8 100644
--- a/examples/community/bluerov2_reconciled_path_control_ros2.md
+++ b/examples/community/bluerov2_reconciled_path_control_ros2.md
@@ -1,12 +1,12 @@
 # External BlueROV2 Direct-Thruster Path Controller
 
 This note points to a community-maintained ROS 2 BlueROV2 path-following controller package
-for DAVE / Gazebo:
+for POSIM / Gazebo:
 
 [BlueROV2 reconciled path control](https://github.com/drwa92/bluerov2_reconciled_path_control_ros2)
 
 > [!NOTE]
-> This package is developed and released outside DAVE. Startup and package-discovery
+> This package is developed and released outside POSIM. Startup and package-discovery
 > fixes found during DAVE validation are tracked in the
 > [external compatibility PR](https://github.com/drwa92/bluerov2_reconciled_path_control_ros2/pull/1).
 > Check that PR before following the external project's quick-start instructions.
@@ -21,7 +21,7 @@ The package provides:
 - direct six-thruster BlueROV2 allocation;
 - optional model-aided virtual-wrench reconciliation diagnostics.
 
-The controller is designed to run with the DAVE BlueROV2 simulator in direct-control mode:
+Run the controller with POSIM's BlueROV2 simulator in direct-control mode:
 
 ```bash
 ros2 launch posim_demos posim_robot.launch.py \
diff --git a/extras/lint_local/README.md b/extras/lint_local/README.md
index 0845d068..dc7332a7 100644
--- a/extras/lint_local/README.md
+++ b/extras/lint_local/README.md
@@ -1,18 +1,41 @@
-# Check Code Format (lint) locally
-This assumes that you are using LINUX system
-To Run this script, you need to have the following system packages installed:
-```bash
-sudo apt-get install -y python3 clang-format libxml2-utils shellcheck
-python3 -m pip install black flake8 cmakelang
-```
+# Check formatting locally
+
+Run these commands from the POSIM repository root on Ubuntu. They use the
+versions and options in the [CI lint workflow](../../.github/workflows/lint.yml).
+Install Python tools in a virtual environment rather than the system Python.
+
+## Prepare the tools
 
-Also, need to make this script executable
 ```bash
-chmod +x lint_local.sh
+sudo apt-get update
+sudo apt-get install -y python3-venv libxml2-utils shellcheck
+python3 -m venv "$HOME/.venvs/posim-lint"
+source "$HOME/.venvs/posim-lint/bin/activate"
+python -m pip install black==24.10.0 flake8==7.1.1 clang-format==19.1.6 \
+  cmakelang==0.6.13 yamllint==1.35.1
 ```
 
-To run the script, execute the following command:
+## Run the checks
+
 ```bash
-# From dave root directory run lint_local.sh
-./extras/lint_local/lint_local.sh
+black --check --diff --line-length 99 --exclude tools/code_check .
+flake8 --ignore=E203,W503,E501 --exclude=tools/code_check .
+git ls-files -z '*.c' '*.cc' '*.cpp' '*.h' '*.hpp' '*.m' '*.mm' | \
+  xargs -0 -r clang-format --dry-run --Werror --fallback-style=none
+find . \( -iname '*.urdf' -o -iname '*.sdf' -o -iname '*.xacro' \
+  -o -iname '*.xml' -o -iname '*.launch' -o -iname '*.world' \) \
+  -print0 | xargs -0 xmllint --noout
+git ls-files -z '*.sh' | xargs -0 -r shellcheck
+find . \( -iname '*.yml' -o -iname '*.yaml' \) -print0 | \
+  xargs -0 yamllint -d '{extends: default, rules: {line-length: {max: 120}, new-line-at-end-of-file: disable}}'
+find . \( -iname 'CMakeLists.txt' -o -iname '*.cmake' \) \
+  -print0 | xargs -0 cmake-lint
 ```
+
+The C/C++ command checks formatting without rewriting files. The older
+`lint_local.sh` helper formats C++ files in place and uses different options;
+use the commands above when comparing your result with CI. In a new terminal,
+activate the same virtual environment before running them.
+
+For the documentation site, use the separate
+[website build and checks](../../website/README.md).
diff --git a/website/public/docs.js b/website/public/docs.js
index b65a9d3e..f9ac6185 100644
--- a/website/public/docs.js
+++ b/website/public/docs.js
@@ -2,7 +2,8 @@
 const ko = document.documentElement.lang === 'ko';
 let searchIndex;
 const indexPromise = () => searchIndex ||= fetch(document.body.dataset.searchIndex)
-  .then(response => { if (!response.ok) throw new Error('Search unavailable'); return response.json(); });
+  .then(response => { if (!response.ok) throw new Error('Search unavailable'); return response.json(); })
+  .catch(error => { searchIndex = undefined; throw error; });
 
 document.querySelectorAll('.docs-search input').forEach(input => {
   const container = input.closest('.docs-sidebar, .docs-mobile-menu');