WWW-POSIM
WWW-POSIM lets you explore an ocean and try a robot without owning one. You can watch a shared voyage, run your own world or write a Python controller.
The website uses lower graphics quality than the installed app and has limited simultaneous simulation slots. A busy server puts new runs in a queue. Use the installed app for repeated practice.
Choose your first activity
- Watch: open the main page and choose LIVE. No account is needed.
- Try a robot: install the app, then run your first world.
- Write a program: follow Python control in VS Code after creating a world.
Use the installed app for your first local project. A personal web workspace runs on the server and needs an account and an available slot.
Follow the guides in order
- Install WWW-POSIM.
- Create a world and try a short route.
- Read a sensor and control WAM-V with Python.
- Try terrain, custom robots or performance settings when you need them.
You can read the guides in English or Korean. Use the language link at the top of the page.
Advanced: simulator, physics and platform details
Start here
POSIM engine and WWW-POSIM platform
POSIM is the simulation engine. Each WWW-POSIM release uses a specified POSIM revision. See the POSIM documentation for engine usage.
| Area | Responsibility |
|---|---|
| 1. Website and GUIs | Workbench, installed launcher, Vehicle/World views, maps, sensor panels and model settings |
| 2. Workspace services | Simulation sessions, terrain jobs, accounts, access, usage limits, storage and shared LIVE delivery |
| 3. Geographic terrain | Land elevation, bathymetry, meshes, source provenance and coastal textures |
| 4. Route planning | Global itinerary, coast-aware port connections, coastal corridors and local collision checks |
| 5. Vehicle control | Native propulsion, leader/follower control, speed limits, stability and recovery policies |
See components and source libraries for the public packages and city terrain examples.
Gazebo computes physics and sensor images. Public LIVE uses Gazebo observation cameras. Personal workspaces render engine state as an interactive browser scene.
Engineering models and control
Gazebo computes six-degree-of-freedom motion from forces and moments. Vehicle SDF defines mass, centre of mass, inertia, collision geometry and propulsion.
- Underwater models: Fossen-based hydrodynamics, added mass and linear/quadratic damping
- Surface WAM-V: Wave Sim buoyancy, drag and waves
- Sensors: camera, LiDAR and IMU messages with simulation timestamps
- Control: thrust commands through ROS 2 or ArduPilot
Use measured vehicle data to tune coefficients and check motion and control performance. See custom robots and parameter tuning.
What runs where?
| Mode | Simulation host | Interface |
|---|---|---|
| Desktop app | Local Gazebo, sensors and controller | Local browser |
| Personal web workspace | Server worker | Web browser |
| Public LIVE | Shared server voyage | Main page |
The desktop app verifies usage through your account. GPU support depends on the operating system and engine. Web workspaces require an available server slot.
Find the right guide
- Getting started: installation, first world and controls
- Advanced guides: terrain, SDF, ROS 2, parameters and performance
- Supported features: capabilities and platform limits
- Course and Leaderboard: teaching services linked from the main page
The interface supports English, Spanish, French, German, Italian, Korean, Japanese and Chinese. Guides are in English and Korean. The first visit follows browser language preferences, with English as the fallback. A manually selected language persists.
Explore public LIVE
Choose World/Vehicle scenes and Lead/Follow sensors to inspect the voyage. Sensors default to the follower's forward camera and LiDAR.
See LIVE world voyage for vehicles, control, routes, sensors, AIS and port photographs. This recording shows the follower's sensor view.
