What’s new in MORSE 1.3?
General
Components
Robots
Actuators
- Introduce the new actuator ArUco Marker, allowing to
simulate the ArUco augmented-reality marker.
Sensors
- The timestamp field is now in seconds instead of milliseconds (#498)
- Semantic camera gains two properties (#396):
- tag allows to restrict the kind of object you want to detect
- relative returns the position information of the various objects from
the camera sensor frame (and not the global frame).
- Laser Scanner Sensors gain the possibility to return also a
remission value at the rssi level.
- Introduce the new sensor Radar Altimeter, allowing to
retrieve the distance to the ground.
- Improvement of Accelerometer, Inertial measurement unit
and Velocity. They now works properly with robots with
or without physics, and returns properly information in the sensor frame.
The computation method is configurable using the ComputationMode property,
counterpart of the ControlType in several actuators.
- Introduce the new sensor Barometer, allowing to compute
the atmospheric pressure.
Middlewares
General
- Each datastream manager now get an action handler, allowing them to run some
specific middleware behaviour once by simulation turn.
Socket
- Socket middleware now accepts the keyword ‘port’ to specify on which port
you want the socket binds itself.
- It is now possible to synchronise with an external clock using the socket
middleware. See the documentation of time_sync in
Sockets.
Moos
- Support for Moos has been enhanced, allowing to use multiples Moos nodes.
Moreover, it supports additional actuators such as
Teleport and Light.
HLA
- HLA can be now used as a general purpose middleware, i.e. it is possible to
import / export any actuator / sensor using the HLA interface. Through, for
moment, no Simulation Object Model (SOM) has been formally defined for
Morse.
Builder API
API addition
- Add a method
Environment.configure_stream_manager
allowing to pass
option/information to each datastream manager.
- It is now possible to control the mist settings in Morse, using
Environment.enable_mist
and Environment.set_mist_settings
.