Create a map
A map gives your robot land and seabed to interact with.
Try it step by step
- Open Workspace → Location.
- Keep the default Busan coordinates for your first map. Choose On-demand terrain to prepare more terrain while moving.
- Select Generate map and wait for readiness.
- Choose WAM-V and start the world. The saved-world list labels On-demand or Fixed area; old records without this information say the mode is not recorded.
Advanced: details and reference
Data selection
Configured, licensed Cesium World Bathymetry takes priority. Regional sources depend on coverage; GEBCO supplies the global fallback.
| Source | Role |
|---|---|
| Cesium World Bathymetry | Preferred when licensed numeric access is configured |
| Copernicus Marine coastal bathymetry | Regional high-resolution depth |
| EMODnet | Regional depth, primarily European waters |
| KHOA | Optional depth near Korea |
| GEBCO | Global elevation and depth fallback |
| Copernicus GLO-30 | Coastal land elevation |
| OpenStreetMap coastline | Refines land/water boundaries on the numeric grid |
| Sentinel-2 RGB | Land satellite colour |
Check access and coverage with Cesium, Copernicus Marine, EMODnet and GEBCO. Collision terrain uses numeric elevation/depth. The interface identifies the source used.
Resolution and lines
Validated OSM coastline and clear Sentinel-2 imagery enable coastal refinement. Land uses GLO-30; water uses supported numeric depth. Corrected elevations feed visuals, collision, sensors and route checks.
- Standard streaming collision grid: 15.625 m
- Satellite imagery: nominal 10 m
- Unknown depth: excluded from routes
- Missing or invalid refinement: GEBCO, Copernicus and regional depth sources
- Additional downloads: background preparation
Mesh spacing differs from survey accuracy. Check original sampling and provenance against the depth accuracy your experiment needs.
Imagery can apply independently of coastline refinement. Starting a saved region checks available imagery.
- World / Vehicle and sensor images: land satellite colour and seabed grid
- Map and minimap: OpenFreeMap
- Seabed grid/contours: visual scale and shape
- Blue/cyan imagery pixels on exposed land: green tint preserving luminance
The terrain texture blends with dark blue-grey near mean sea level. The blend is strongest at sea level and fades at both limits.
- Blend range: −1.0 to +0.5 m relative to mean sea level
Imagery and lines supply visual appearance. Elevation data determines depth and collision geometry.
On-demand terrain
Nearby tiles prepare in the background; recent tiles support turning back. Installation and removal follow engine ordering. Personal sessions hold controls before entering unverified collision or sensor coverage.
Missing tiles are requested again. Adjacent tiles share border samples, and re-entry loads saved geometry.
The world voyage favours coastal routes with checked depth and hull clearance. See LIVE world voyage for control values.
- Preferred coastal distance: about 250 m
- Minimum depth: 2 m
- Port visits: follow the itinerary order