1![MORSE logo](doc/media/morse-logo.png) 2 3MORSE: the Modular Open Robots Simulator Engine 4=============================================== 5 6[![DOI](https://zenodo.org/badge/doi/10.5281/zenodo.45965.svg)](http://dx.doi.org/10.5281/zenodo.45965) [![Build Status](https://travis-ci.org/morse-simulator/morse.png?branch=master)](https://travis-ci.org/morse-simulator/morse) 7 8 9![MORSE screenshot 1](doc/media/morse_ros_navigation.png) 10 11[MORSE](http://morse-simulator.github.io/) (Modular OpenRobots Simulation Engine) is 12an academic robotic simulator, based on the Blender Game Engine and the Bullet 13Physics engine. It is a BSD-licensed project (cf [LICENSE](LICENSE)). 14 15It is meant to be versatile (simulation of field robotics, indoor 16robotics, human robot interaction, multi-robots systems) and allow 17simulation at different levels (from raw cameras to high-level 18semantics). 19 20The communication with the simulator is middleware independent. At the 21moment, MORSE supports the [following 22middlewares](http://www.openrobots.org/morse/doc/latest/user/integration.html): 23 24- ROS 25- Yarp 26- pocolibs 27- MOOS 28- HLA 29- mavlink 30- and a generic socket interface (with an intuitive Python API) 31 32Installation 33------------ 34 35Please read INSTALL or check the [on-line installation 36instructions](http://www.openrobots.org/morse/doc/latest/user/installation.html). 37 38Documentation 39------------- 40 41The MORSE documentation is available from the doc/ directory. It is 42available as well online, on the [MORSE 43website](http://www.openrobots.org/morse/doc). 44 45You can also [subscribe to 46morse-users@laas.fr](https://sympa.laas.fr/sympa/subscribe/morse-users). 47 48How to contribute 49----------------- 50 51Even if the code-base is not stabilized yet, contribution to MORSE are 52more than welcome. 53 54You can contribute new robot models, new sensors, we have a TODO list 55for the Blender game engine itself... 56 57Feel free to [subscribe to 58morse-dev@laas.fr](https://sympa.laas.fr/sympa/subscribe/morse-dev) and ask! 59 60Code is available on [GitHub](https://github.com/morse-simulator/morse). 61 62Feel free to fork, pull request or submit issues to improve the project! 63 64Credits 65------- 66 67Copyright (c) 2009-2010 ONERA 68Copyright (c) 2009-2016 LAAS-CNRS 69Copyright (c) 2015-2016 ISAE-SUPAERO 70Copyright held by the MORSE authors or the institutions employing them, refer 71to the AUTHORS file for the list. The list of the contributors to each file 72can be obtained from the commit history ('git log <file>'). 73 74MORSE is developped by a large community of academics, with contributions from 75more that 15 universities world-wide. 76 77![MORSE contributors](doc/media/contributors.png) 78 79The initial development of MORSE has been partially funded by the Fondation RTRA 80within the ROSACE project framework, and by DGA <http://www.defense.gouv.fr/dga> 81through the ACTION <http://action.onera.fr> project. 82 83![MORSE screenshot 2](doc/media/treasure.jpg) 84