Conference Agenda

The development of Autonomous Surface Vehicles (ASVs) requires simulation tools capable of supporting rapid prototyping, perception payload integration, and repeatable scenario-based testing before field deployment. In this context, the paper presents a modular ROS2/Gazebo virtual testbed for ASV simulation, with particular focus on conditional awareness payloads and configurable marine scenarios. The proposed testbed is organized around reusable vehicle, payload, environment, and interface modules, allowing different ASV configurations to be assembled without redefining the complete simulation model. A common ROS2 interface layer enables Software-in-the-Loop execution and provides the basis for Hardware-in-the-Loop workflows. The testbed integrates configurable wave and wind environments, virtual radar and LiDAR payloads, and a scenario-management layer for static and dynamic obstacle interaction. Two representative ASV configurations are considered: a baseline navigation setup and a conditional awareness setup with perception payloads and obstacle management. A preliminary runtime evaluation shows the computational impact of progressively enabling payload and scenario modules, while maintaining near real-time execution in the evaluated conditions. Future work will address validation against field data and sea trials.