What’s new in MORSE 0.4.x?

The MORSE 0.4.x series has been code-named the multi-node release.

General changes

• Full support for Blender 2.59 and Python 3.2. See the updated installation instructions.
• A new, reorganized, documentation. You are currently browsing it :-)

Architectural changes

• Added infrastructure for multi-node functionality
• New Builder API to create scene from Python description. This allows powerful programmable scene creation, much lighter scenario files, and easier to track changes (since its a text format, instead of binary Blender files).
• Changed directory structure and file names for ease of use of the Builder API.
• Pervasive use the Python logging interface

Middlewares

• Added support for multiple middleware bindings per component
• Added support for services through Pocolibs middleware
• ROS support for the robot’s cameras
• Added support for HLA middleware
• Added support for MOOS middleware

New components

• Added a Hummer robot that implements the Blender Vehicle Wrapper
• Added a steer_force actuator to control the Hummer robot
• Added an armature_actuator to control the bone structure in the LWR and PR2 robot arms

User interface

• Add a help display with the keyboard shortcuts available during simulation. Activated by pressing the H key