What’s new in MORSE 1.2?
- Time management in Morse has been clarified (#388). See
time management documentation for more details about it.
- Implement the notion of zone, i.e. a 3d space which several properties which
can trigger various behaviours in the simulation. See here to see how to define zone in your scenario.
- Add new services for the CamaraFP settings.
- F7 moves CamaraFP above robots
- Each component now has two new services:
- get_properties returns the list of the properties of the component
- get_configurations returns the value of the different properties of
- Most robots are now using more realistic physical behaviour.
- Armatures have received some love, with
support for placing and controlling inverse kinematics targets to easily
control the full skeleton with inverse kinematics.
- The default ControlType of several actuators
(Linear and angular speed (V, W) actuator, Waypoint,
Linear and angular speed (Vx, Vy, W) actuator, Keyboard Actuator,
Joystick Actuator) has been switched from “Position” to
“Velocity”. It basically means it relies more on the underlaying physic
engine, providing a more realistic behaviour, but it may be less repeatable.
The previous behaviour can be restored by setting explicitly the
ControlType parameter of the actuator (#117).
- Each sensor has now an additional field timestamp exporting when the
data has been computed, in simulated time.
- the GPS has been vastly improved. In addition to (x, y,
z) position, it can also returns geodesic coordinates and velocity in the
raw level of details. Moreover, it exposes also time and heading in the
- Batteries are now rechargeable in
- pocolibs is now able to export velodyne
- Add a new DepthCamera publisher.
- VideoCamera now publish base64 encoded RGBA image.
- place_camera and aim_camera has been deprecated in favor of
set_camera_location and set_camera_rotation.
- Velodyne became VelodyneRayCast and VelodyneZB became Velodyne
VelodyneZB still works for compatibility.
- Add a method Environment.set_physics_step_sub allowing to control the
number of substep used by the physics engine. A bigger number will make the
simulation slower, but more realistic. The default value in Morse is 2.
- Add two methods sleep and time to handle time-related request. These
methods are equivalent to the one provided by the Time module, but
considers properly the simulated time. It is recommended to use these
methods over Time one.