Terrain, routing and control libraries
POSIM is the simulation engine for ocean environments, robot models, sensors and ROS 2 interfaces. WWW-POSIM combines it with three public libraries for geographic worlds and automated voyages.
| Repository | Responsibility | Inputs and outputs |
|---|---|---|
| POSIM-Terrain | Land elevation, bathymetry and satellite textures | Geographic region → numeric terrain, meshes, SDF and source manifests |
| POSIM-Routing | Global routes, coastal paths, port approaches and local collision checks | Departure, destination and terrain → routes and waypoints |
| POSIM-Control | Propulsion, leader/follower control and motion policies | Checked waypoints and measured state → propulsion commands and controller status |
POSIM-Terrain
Generate a land/ocean region from latitude, longitude and dimensions. Available elevation and bathymetry sources form one numeric field for meshes and collision checks. Prepare Sentinel-2 imagery to add land textures. Exported manifests record coverage, hashes and source assumptions.
POSIM-Routing
Plan a global maritime itinerary, then connect it to arrival water. OSM land polygons guide port connections. Coastal and local planners use POSIM-Terrain's numeric field to check paths. A global graph route alone does not establish water depth.
- Installation, route export and planner APIs
- Terrain dependency: POSIM-Terrain
POSIM-Control
Use Python policies for speed, rough water, stability and recovery. Native Gazebo plugins apply propulsion to a surface leader and follower. The leader follows supplied waypoints; the follower follows measured leader poses. The caller checks terrain before sending a path.
- Python policies, native plugin builds and control topics
- Native build: configured POSIM environment with Gazebo development packages
Use them together
POSIM-Terrain supplies the geographic field. POSIM-Routing plans and checks paths across it. POSIM-Control follows approved waypoints while Gazebo computes physical motion. WWW-POSIM manages sessions, terrain jobs, voyage progress and user interfaces.
Each library can be used directly through its README. WWW-POSIM pins all three and the POSIM engine as Git submodules. Its web workspace and installed app include the pinned implementations. See WWW-POSIM components for the application structure.
For engine use, start with installation, robot models and ROS 2 control.