diff --git a/CMakeLists.txt b/CMakeLists.txt
index 78324dd..0872eaf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,9 +9,16 @@ endif()
 
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/")
 
+option(BUILD_SHARED_LIBS "Build shared libraries" ON)
+
 # MOOS-IvP's helm libraries (IVP_BUILD_HELM_LIBS_ONLY)
 find_package(IVP CONFIG REQUIRED)
 
+find_package(GOBY 3.0 COMPONENTS zeromq)
+if(NOT GOBY_FOUND)
+  message(STATUS "Goby3 not found: not building the Goby app")
+endif()
+
 include(CTest)
 
 add_subdirectory(src)
diff --git a/README.md b/README.md
index 9421a49..27f4f40 100644
--- a/README.md
+++ b/README.md
@@ -23,7 +23,7 @@ One way to think of this project is as a generator for the equivalent of the MOO
 
 *This section was written by Claude.*
 
-`init.sh` checks out the submodules and installs the Ubuntu packages needed to build them and IvPico. `build.sh` then builds, all in `build/`:
+`init.sh` checks out the submodules and installs the Ubuntu packages needed to build them and IvPico. These include Goby3 from [packages.gobysoft.org](http://packages.gobysoft.org), for the Goby app; without Goby3, `build.sh` skips the Goby app. `build.sh` then builds, all in `build/`:
 
 - openocean-messages, into `build/external/openocean-messages`;
 - MOOS-IvP's helm libraries (`IVP_BUILD_HELM_LIBS_ONLY`, as shared libraries, without MOOS or its apps), into `build/external/moos-ivp`, installed into `build/external/install` for `find_package(IVP)`;
diff --git a/external/moos-ivp b/external/moos-ivp
index be40e2c..7ccebd2 160000
--- a/external/moos-ivp
+++ b/external/moos-ivp
@@ -1 +1 @@
-Subproject commit be40e2c7cef168be29f57a756df6a16a1c7882f1
+Subproject commit 7ccebd29912d6a884c34efb744856310f21d97ff
diff --git a/init.sh b/init.sh
index 1821fc7..08ce4aa 100755
--- a/init.sh
+++ b/init.sh
@@ -25,9 +25,25 @@ if [ "$(id -u)" -ne 0 ]; then
     SUDO=sudo
 fi
 
+apt_install() {
+    $SUDO env DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends "$@"
+}
+
 # moos-ivp's helm libraries (IVP_BUILD_HELM_LIBS_ONLY) need only CMake and a compiler
-packages=(cmake ninja-build g++ git ca-certificates protobuf-compiler libprotobuf-dev)
+packages=(cmake ninja-build g++ git ca-certificates protobuf-compiler libprotobuf-dev curl gpg)
+$SUDO apt-get update
+apt_install "${packages[@]}"
+
+# Goby3, for src/bin/goby, from packages.gobysoft.org
+keyring=/usr/share/keyrings/gobysoft-archive-keyring.gpg
+if [ ! -f "${keyring}" ]; then
+    curl -fsSL "https://keyserver.ubuntu.com/pks/lookup?op=get&search=0x19478082E2F8D3FE" |
+        gpg --dearmor | $SUDO tee "${keyring}" > /dev/null
+fi
+. /etc/os-release
+echo "deb [signed-by=${keyring}] http://packages.gobysoft.org/${ID}/release/ ${VERSION_CODENAME}/" |
+    $SUDO tee /etc/apt/sources.list.d/gobysoft_release.list > /dev/null
 $SUDO apt-get update
-$SUDO env DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends "${packages[@]}"
+apt_install libgoby3-dev goby3-apps
 
 external/openocean-messages/init.sh --cxx
diff --git a/src/bin/CMakeLists.txt b/src/bin/CMakeLists.txt
index 31b40da..f162b61 100644
--- a/src/bin/CMakeLists.txt
+++ b/src/bin/CMakeLists.txt
@@ -1,4 +1,6 @@
-add_subdirectory(goby)
+if(GOBY_FOUND)
+  add_subdirectory(goby)
+endif()
 
 add_subdirectory(ros)