POSIM is an open-source maritime robotics simulation library maintained by IOES-Lab. It combines ocean environments, underwater and surface robots, simulated sensors, and ROS 2 control interfaces for Gazebo.
English documentation · 한국어 문서
Find installation instructions, first simulations, vehicle and sensor examples,
custom robot guides, and plugin references on the documentation website.
The main branch targets Ubuntu 26.04, ROS 2 Lyrical, and Gazebo Jetty.
Start with installation or
Docker, then run your
first simulation.
WWW-POSIM uses POSIM as its simulation engine. Run it in a web workspace or desktop app.
- Generate seabed and coast from geographic coordinates.
- Operate surface or underwater robots and inspect sensors.
- Test ArduPilot waypoint missions or ROS 2 control code.
- Watch the public LIVE world voyage.
WWW-POSIM connects the POSIM engine to three public libraries. Each repository has English/Korean usage instructions and tests.
| Library | Responsibility |
|---|---|
| POSIM-Terrain | Geographic land/seabed generation and satellite textures |
| POSIM-Routing | Global routes, coastal paths, port approaches and local collision checks |
| POSIM-Control | Vehicle propulsion, leader/follower control and motion policies |
Read the library guide or 한국어 안내 for how they work together and how to use them directly.
Report issues or propose changes in IOES-Lab/POSIM. See the contribution guide for development checks and documentation updates.
POSIM includes source from Project DAVE with its author and copyright notices. POSIM-authored source uses Apache License 2.0. Third-party source and assets retain their original terms. External Wave Sim is built from its upstream repository under GPL terms; see the wave dependency and distribution details.