The ship is directly across from the ship and you can easily walk there yourself. There is a cop that will stop traffic at the street level so that wasn't a problem. The cost is 3 dollars. The pedestrian bridge is to the left and about a block away.
Don't think you can walk to the divers as it is a pretty far walk and up hill and the side walks aren't great. Our cab driver took us there for pictures and then we continued to drive through the various areas of the city.
Rosie Tours is what our friends took and really enjoyed it. She is bonded and had everyone back on time.
Afterwards we thought we'd do some shopping in Zihuatanejo and a bathroom break. You have to pay for that and they ration the paper. None of the merchants were willing to change their prices and most of the stuff you can get in the US and just paint the name on it.
A friend was drinking in one of the areas and tried to pay with his credit card. They only accept cash so keep that in mind. He tended bar for a hour to pay his tab.
It is because of the fishing village that I give it a 3. We didn't make it to Ixtapa. However, friends did hire a cab for a set price to take them to the island and back. The cab decided to take them more places and wouldn't listen to them when they said no. He stopped 3 blocks from the pier and told them the cost was $70, much more then the $17 agreed on. They eventually agreed on $35 as that's all the cash they had on them.