What’s new in MORSE 0.6?¶
General¶
Compatibility with Blender from 2.59 to 2.64a.
MORSE is now compatible with Windows 32 and 64 bit. Thanks to Markus Sander for providing the patches and testing
The ‘morse’ executable has slightly different options now. run ‘morse -h’ for details.
Added support for ‘no color’ and ‘reverse colors’ log output.
Added support for specifying the geometry of the simulator window.
Unit-tests coverage improved
MORSE (core, ie with only socket support) is now packaged in Debian (and Ubuntu): morse-simulator
User interface¶
Possibility to configure and display the view from a simulated camera inside the Blender screen
Reset the position of the global camera (CameraFP) by pressing F8
Components¶
Sensors¶
Major rewriting of the IMU sensor and odometry sensor, which now returns more precise datas. While here, add some modifiers to allow more realistic behaviour of such sensors.
Actuators¶
New differential drive actuator associated to the previously mentioned robots, called ‘v_omega_diff_drive’. It converts a given v, omega into left and right wheel speeds
Waypoint actuator can be configured to give target destination also in the Z axis. Useful for helicopters and submarines
Robots¶
Several models for quadrotors, including more or less realistic controls (using waypoints, stabilized fly model or directly in force). ROS support rely on ASCTEC messages.
New more physically realistic robots: Segway RMP 400 and Pioneer 3-DX. Thanks to David Hodo and Pierrick Koch for their work on the physics simulation
B21 robot model
New textured model for the Yamaha R-Max helicopter
Simple model of a submarine robot, along with an underwater environment
Human simulation¶
Several behaviour fixes in the human control mode
Human avatar can now be correctly placed in the scene using the Builder API scripts
New tutorial to learn how to control the human avatar
Documentation of simulation of multiple humans
Kinect-based control of the human in the simulator
Misc¶
Corrections to the bounding boxes of buildings in outdoor scenarios. Also added textures to the buildings
Dependencies on Blender Python API are now wrapped in a single file
Middlewares¶
Lots of improvements on ROS compatibility. Many new tutorials with detailed explanations, including an update ROS navigation tutorial.
Corrections to YARP middleware, allowing it to export data stored as Python lists
Improvements to the multi-node architecture using HLA. Including new tutorials and documentation
Updated ROS support for Fuerte compatibility
Documentation¶
Make table of contents of the components with images
Misc¶
Add methods in builder to configure UTM coordinates and temperature in the scene. Previously in the Scene_Script_Holder