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.