1What's new in MORSE 1.4? 2======================== 3 4General 5------- 6- Numpy is now needed for Morse. It is used in several places where 7 computations using mathutils is not precise enough (float vs double 8 precision). 9- Time management has been improved in various way. A **morse_sync** tool has 10 been introduced to improve precision and timing of high-frequency components 11 (#683). If available in Blender (Blender > 2.77), it is also possible to 12 accelerate or slow-down the simulation (#388). Moreover, Morse now try to 13 compute automatically the right time settings. If you meet any problem 14 related to time, make sure to read the Time and Event documentation and / or 15 report issue to the Morse project. 16 17Components 18---------- 19 20Robots 21++++++ 22 23- the human avatar in MORSE has been entierly rewritten. The new human model is 24 much simpler, yet much nicer (in particular, it features mesh skinning for 25 good looking animations). On the downside, the interactive mode is gone for 26 now. Depending on interest, it can be revived in a future version (possibly 27 through external scripts, for added flexibility). 28 29Actuators 30+++++++++ 31 32- the semantic of the Waypoint and Destination actuators has slightly changed: 33 once the destination is reached, they do not attempt anymore to actively stay 34 at this position. This permits another motion actuator to 'take over' the 35 control of the robot. The previous behaviour is still desirable in certain 36 cases (notably for flying robots), and can be re-enabled by setting the 37 property `RemainAtDestination` to true: 38 `motion.properties(RemainAtDestination=True)`. This option is also added to 39 the RotorcraftWaypoint actuator, but it defaults to true (hence, no 40 behaviour change compared to MORSE 1.3). 41- the orientation actuator has been enhanced to possibly work more 42 realistically, by limiting the speed of the rotations. The default is still 43 to go directly to the desired orientation. 44- The keyboard and joystick actuators do not call anymore the robot 45 `apply_speed` method with values set to zero when no input is received. The 46 previous behaviour prevented them to be used in combination with another 47 motion actuator (they would always overwrite other motion commands with 48 zeros). 49- The Armature actuator has two new services (`rotate_joints` and 50 `translate_joints`) that let the user set the rotations/translations of only 51 a subset of the armature's joints by providing a custom mapping {joint name: 52 value}. 53- The rotorcraft_attitude actuator has been extended to be able to control the 54 rotorcraft in yaw rate or in absolute yaw (using the ``YawRateControl`` 55 property). If it is the case, you can configure if you want to configure to 56 use ``normal yaw`` or ``north`` using the property ``UseAngleAgainstNorth``. 57 Last, you can configure the actuator to use a linear or quadratic thrust 58 model using ``LinearThrust``. 59- Introduce the drag "actuator" which allows to simulate the drag (air 60 resistance) force opposite to the move of the robot. It allows more 61 realistic simulation (if desired). 62- Introduce the external_force actuator which allows to apply external force 63 (typically force from the environment such as wind) to a robot. It has the 64 same interface than force_torque, but apply force in the global frame. 65- Introduce the quadrotor_dynamic_control actuator which allows to control a 66 quadrotor from the speed of its four engine, using simple dynamic equation. 67 68Sensors 69+++++++ 70 71- **longitude**, **latitude** and **altitude** are not anymore properties of 72 the GPS sensor but must be set at the environment level. Moreover, the 73 property **angle_against_north** allows to configure the angle between the 74 X-axis and the geographic north (must be positive when the Blender X-axis is 75 East of true North, negative if is West of true North). 76- Introduce the new high-level sensor Attitude, allowing to compute the 77 attitude of the system 78- Introduce the sensor Magnetometer which allows to compute the magnetic field 79 vector of the Earth. 80- Extend the sensor IMU to return also the magnetic field vector. 81- Fixed the collision sensor: it now detects collision only when it is actually 82 colliding (before, any object in a 1x1x1m box around the sensor would return 83 a collision). While here, improve the documentation with a complete example. 84- Introduce the airspeed sensor , which allows to compute the speed of a 85 vehicle relative to the air. 86 87Modifiers 88++++++++ 89 90- Introduce ECEF, Geodetic, Geocentric modifiers, allowing to convert 91 coordinates from Blender world to ECEF-r or Geodetic or Geocentric 92 coordinates (and vice-versa). It should improve interoperability with flight 93 systems in general. 94- Introduce Feet modifier, to convert imperial units to meter buts (and 95 vice-versa) 96 97Middlewares 98----------- 99 100General 101+++++++ 102 103- Introduce a binding for the Mavlink protocol easing the interoperability of 104 Morse with a lot of free autopilots / architectures. 105 106ROS 107+++ 108 109- Some ROS 'housekeeping' has been performed in this release, including 110 removing the need for rospkg (easier installation!), removing ROS interface 111 with the non-standard (and unused?) JointPositions message and removing 112 references roslib.load_manifest(), a memory of rosbuild-era. 113 114HLA 115+++ 116 117- Handle automatically the case where attributed published by Morse are not 118 owned by it. 119- Allow to specify a ``stop_time`` for the simulation (in simulated seconds) 120- Make ``lookahead`` configurable for the Morse federate 121 122YARP 123++++ 124 125- Add an adapter for Depth Cameras. 126 127Builder API 128----------- 129 130API addition 131++++++++++++ 132 133- It is now possible to import environment composed of multiples scenes. The 134 user should select which is the "main_scene" when importing the environment. 135 Moreover, a method "Environment.set_background_scene" has been added to configure the 136 scene to use in background (#651). 137- The method "bpymorse.set_speed", used to changed the frequency of Morse 138 main loop is now deprecated in favor of "Environment.simulator_frequency". 139- The method ``Environmement.set_time_scale`` allows to accelerate or 140 slow-down the simulation (#388). 141- The new method "Environment.use_vsync" allows to control the vsync parameter 142 143Pymorse 144------- 145 146- Robots created in loop are handled smartly. They are still usable as 147 previously, but it is also possible to access them using the list foos (if 148 your robot name is foo) (#358). 149- Streams are now created lazily, fixing control with large number of robots / 150 sensors (#626). 151 152What's new in MORSE 1.3? 153======================== 154 155General 156------- 157- MORSE now installs by default support for almost all its supported 158 middlewares (ROS, YARP, MOOS, HLA, and (partially) pocolibs). This should 159 improve end-users' first experience with MORSE (it 'just works') 160- new sandbox environment. Check `the doc for a screenshot <https://www.openrobots.org/morse/doc/latest/quickstart.html>`_. 161 162Components 163---------- 164 165Robots 166++++++ 167 168Actuators 169+++++++++ 170 171- Introduce the new actuator "arucomarker", allowing to 172 simulate the ArUco augmented-reality marker. 173 174Sensors 175+++++++ 176 177- The timestamp field is now in seconds instead of milliseconds (#498) 178 179- Semantic camera gains two properties (#396): 180 - `tag` allows to restrict the kind of object you want to detect 181 - `relative` returns the position information of the various objects from 182 the camera sensor frame (and not the global frame). 183 184- Laser Scanner sensors gain the possibility to return also a 185 remission value at the `rssi` level. 186 187- Introduce the new sensor "Radar Altimeter", allowing to retrieve the 188 distance to the ground. 189 190- Improvement of Acceleromter, IMU and Velocity sensor. They now works 191 properly with robots with or without physics, and returns properly 192 information in the sensor frame. The computation method is configurable 193 using the `ComputationMode` property, counterpart of the `ControlType` in 194 several actuators. 195 196- Introduce the new sensor "Barometer" allowing to compute the atmospheric pressure. 197 198Middlewares 199----------- 200 201General 202+++++++ 203 204- Each datastream manager now get an action handler, allowing them to run some 205 specific middleware behaviour once by simulation turn. 206 207Socket 208++++++ 209 210- Socket middleware now accepts the keyword 'port' to specify on which port 211 you want the socket binds itself. 212- It is now possible to synchronise with an external clock using the socket 213 middleware. See the documentation of **time_sync**. 214 215Moos 216++++ 217 218- Support for Moos has been enhanced, allowing to use multiples Moos nodes. 219 Moreover, it supports additional actuators such as teleport or light 220 actuator. 221 222HLA 223+++ 224 225- HLA can be now used as a general purpose middleware, i.e. it is possible to 226 import / export any actuator / sensor using the HLA interface. Through, for 227 moment, no Simulation Object Model (SOM) has been formally defined for 228 Morse. 229 230Builder API 231----------- 232 233API addition 234++++++++++++ 235 236- Add a method Environment.configure_stream_manager allowing to pass 237 option/information to each datastream manager. 238It is now possible to control the mist settings in Morse, using 239 Environment.enable_mist`` and ``Environment.set_mist_settings. 240 241MORSE 1.2 242========= 243 244General 245------- 246 247- Time management in Morse has been clarified (#388) 248- Implement the notion of zone, i.e. a 3d space which several properties which 249 can trigger various behaviours in the simulation. 250- Add new services for the CamaraFP settings. 251- F7 moves CamaraFP above robots 252 253Components 254---------- 255 256- Each component now has two new services: 257 - ``get_properties`` returns the list of the properties of the component 258 - ``get_configurations`` returns the value of the different properties of 259 the component. 260 261Robots 262++++++ 263 264- Most robots are now using more realistic physical behaviour. 265 266Actuators 267+++++++++ 268 269- Armatures have received some love, with support for placing and controlling 270 inverse kinematics targets to easily control the full skeleton with inverse 271 kinematics. 272 273- The default ``ControlType`` of several actuators (v_omega, waypoint, 274 xy_omage, keyboard, joystick) has been switched from "Position" to 275 "Velocity". It basically means it relies more on the underlaying physic 276 engine, providing a more realistic behaviour, but it may be less repeatable. 277 Th previous behaviour can be restored by setting explicitly the 278 ``ControlType`` parameter of the actuator (#117). 279 280Sensors 281+++++++ 282 283- Each sensor has now an additional field ``timestamp`` exporting when the 284 data has been computed, in simulated time. 285- the GPS sensor has been vastly improved. In addition to (x, y, z) position, 286 it can also returns geodesic coordinates and velocity in the ``raw`` level 287 of details. Moreover, it exposes also time and heading in the ``extended`` 288 level. 289- Batteries are now rechargeable in ``ChargingZone``. 290 291Middlewares 292----------- 293 294Pocolibs 295++++++++ 296 297- ``pocolibs`` is now able to export velodyne sensor. 298 299Socket 300++++++ 301 302- Add a new ``DepthCamera`` publisher. 303- ``VideoCamera`` now publish base64 encoded RGBA image. 304 305Builder API 306----------- 307 308API changes 309+++++++++++ 310 311- ``place_camera`` and ``aim_camera`` has been deprecated in favor of 312 ``set_camera_location`` and ``set_camera_rotation``. 313- ``Velodyne`` became ``VelodyneRayCast`` and ``VelodyneZB`` became ``Velodyne`` 314 ``VelodyneZB`` still works for compatibility. 315 316API addition 317++++++++++++ 318 319- Add a method ``Environment.set_physics_step_sub`` allowing to control the 320 number of substep used by the physics engine. A bigger number will make the 321 simulation slower, but more realistic. The default value in Morse is 2. 322 323Pymorse 324------- 325 326API addition 327++++++++++++ 328 329- Add two methods ``sleep`` and ``time`` to handle time-related request. These 330 methods are equivalent to the one provided by the ``Time`` module, but 331 considers properly the simulated time. It is recommended to use these 332 methods over ``Time`` one. 333 334MORSE 1.1 335========= 336 337General 338------- 339 340- morse tools has now some options to easily create custom simulations: check 341 'morse {create|rm|add|...} --help' for more on that topic! (commit 342 71fc8a81121b, issue #396) 343 344Components 345---------- 346 347- Modifiers use now a class-base scheme, similarly to datastream input / 348 output (#330). 349 350Actuators 351+++++++++ 352 353- Improve the Light actuator, including more configurable parameters (in 354 particular, the color of light and its energy). A new service 'toggle' 355 allows to control it. 356- New 3D sound actuator {play,pause,stop} from local mp3 file. 357- Add a joystick actuator allowing to control directly your robot using a 358 joystick. 359 360Robots 361++++++ 362 363- Introduce Morsy, the Morse mascot, now available directly in the simulator. 364- Introduce PatrolBot, a differential robot developed by MobileRobots. 365 366Sensors 367+++++++ 368 369- A new sensor `Velocity` allows to retrieve properly the velocities of a robot 370 which use a physic controller. 371- The semantic camera performance has been improved. It has a new option 'noocclusion' 372 to disable occlusion testing and get even better performances. 373- The thermometer has been reworked to handle multiple fire sources, 374 potentially of different nature 375- Introduce a new sensor collision which allows to detect if the robot is in 376 collision with some objects of the environment. 377- Fix Camera resolutions ratio issue #371. We now create one Blender scene for 378 each camera in the simulation, with specific render resolution. 379 380Builder API 381----------- 382 383It is now possible to handle loop in builder script (#357). See 384:doc:`user/builder` for documentation about it. 385 386API addition 387++++++++++++ 388 389- `make_ghost` method allows to transform the robot in ``ghost mode`` 390 (transparent and with no associated physics) 391- `mass` method allows to setup the mass of any component. 392- `set_log_level` allows to configure easily the level of log of each 393 component. A service with similar name allows to do that at runtime too. 394 (#337) 395- `set_speed_camera` allows to change the speed of the viewport camera. 396- `set_friction` allows to change friction parameter with the ground 397 398API changes 399+++++++++++ 400 401- `add_default_interface` has now a smarter behaviour (#399) 402 403Pymorse 404------- 405 406The Python bindings for MORSE have been completely rewritten and is now much 407more efficient (based on *asynchat* API). However, it is mostly an internal 408rewrite, and the interface does not change. 409 410Multi-node 411---------- 412 413Rewrite the multi-node socket client/server (internal). Use JSON instead of 414unsafe `pickle`. 415 416Tools 417----- 418 419- Remove old Blender 2.4 geolandloader code 420- Add tools/terrain/blend_dtm.py to build map from a DEM and an Orthoimage 421 422MORSE 1.0 423========= 424 425General 426------- 427 428- MORSE is mature! stable release ! 429- Unit-test coverage has been substentially improved 430- Documentation of component is now partially auto-generated: this should bring 431 a better, up-to-date, complete documentation, including code examples 432- MORSE has a new logo! 433 434Components 435---------- 436 437- All components now explicitely expose their data fields and properties with 438 respectively `add_data` and `add_property`. 439- Introduced "abstraction levels" that allow to define several levels of 440 realism for a given component (#166). Many components remain to be ported to 441 use this interface, though. 442- Many component classes have been renamed to be more readable and match 443 Builder conventions 444- Creation and configuration of armatures in Blender, suitable for MORSE is now 445 properly documented. 446- Most of the component do not need a Blender file anymore (only the one with 447 complex meshes or armature are kept) (#221). 448- Blender file for components do not require any game property of logic brick 449 anymore. It is now fully created within the Builder API. This means that any 450 Blender model can be used as MORSE model, without specific configuration 451 (#241). 452- components can now be easily profiled for performance assessment from the 453 Builder API. 454 455Robot 456+++++ 457 458- Subsential improvement regarding the PR2 robot support. Besides 2D 459 navigation, the robot's joint state and joint control via standard tools like 460 `pr2_tuck_arm` works out-of-the-box. PR2 joint name have been updated to 461 match the latest version. Several scripts allow to create a PR2 with variable 462 level of equipement. 463- Fixed the `WheeledRobot` class of robot that had a erratic physics behaviour. 464 Make `Pioneer3DX` inherit from this robot class (#245). 465 466Actuators 467+++++++++ 468 469- Complete rewrite of the armature actuator. It can now track joints state 470 (interpolating joint rotation if required, and not only 'jumping' to the 471 target position) and execute trajectories with interpolation. It also 472 introduces support for prismatic joints (#231, #232). 473- `Waypoint` actuator: improve handeling of interruption (the robot motion now 474 actually stops). 475 476Sensors 477+++++++ 478 479- New sensor: depth camera (Thanks to Gilberto's patch in Blender 2.65), with 480 specialization like Kinect (#122, #123, #138). It uses Python 3.3 481 `memory_view` for fast, copy-less transfer of binary data between the OpenGL 482 buffers, the C processor, and the interface. 483- Laser sensors have been reorganized and grouped in one single category 484 (#155, #226). 485- Odometry now expose several abstraction levels (*raw*, *differential*, 486 *integrated*) 487- New sensor: armature pose. This sensor superseeds previous sensors like 488 `kuka_pose` or `pr2_posture` by proving a clean interface to armature states. 489- New sensor: Velodyne 490- New special *compound sensor* that allows to merge the output of several 491 sensors. Used for instance to merge the joints values of the different PR2 492 armature in a single joint state (#240). 493- Former `rosace` sensor has been renamed to a more approriate 494 `search_and_rescue` sensor. 495- Laser scanner ranges ordering has been reversed to match ROS conventions. 496 497Builder API 498----------- 499 500- One class per component: for instance, `Robot('atrv')` becomes `ATRV()`. The 501 documentation page of each component gives an example. 502- New `FakeRobot()` for clock and other static components (like environment 503 cameras). 504- Former functions `configure_mw` and `configure_service` replaced by new 505 `add_interface`, `add_datastream`, `add_service` or `add_default_interface` 506 that sets an interface for a whole robot (#217). 507- Components are now automatically renamed after the variable names used in the 508 Builder script, provide much more natural naming schemes. Names can still be 509 configured explicitely with `component.name` (#133). 510- Component profiling with `component.profile()` 511- Errors in Builder scripts are now better handled, with meaningful error 512 messages. 513- The simulation can now be configured from the Builder script for 3D output 514 (split screen), including configuration of eye separation. 515- Added ability to automatically save your scene as a Blender file from the 516 Builder script. 517- Added a `fastmode` option when setting up the environment: in *fastmode*, 518 only wireframes are displayed. This improves MORSE loading time and 519 performance, but some sensors (like cameras) won't work. Most of the 520 unit-tests now use this mode. 521 522.. warning:: 523 524 It basically means that scene are incompatible between release 0.6 and 1.0. 525 To help the conversion, you can use the tool available `here 526 <https://raw.github.com/laas/morse/master/tools/convert_0.6_to_1.0.sh>`_ 527 Basically, you can use it like that:: 528 529 sh convert_0.6_to_1.0.sh your_scene.py > your_scene_1.0.py 530 531 You may need to edit the resulting file manually to fix last issues. If you 532 get in trouble, feel free to send us a mail on morse-users@laas.fr with your 533 scene. 534 535Assets 536------ 537 538- Added a new `empty` environment, especially suited for tests. 539 540Interfaces 541---------- 542 543- Interfaces can now implement data serialization/deserialization in explicit 544 classes: no more hacky appending of free functions (#144, #145). 545 546ROS 547+++ 548 549- GPS : cleaned, to be validated 550- Odometry now publish both Odometry and TF 551- Pose publish only Pose (no more Odometry) 552- Laser scanners can now export point clouds (`PointCloud2`) 553- New `PointCloud2` publisher for depth camera, Kinect in progress 554- Support for the JointTrajectory ROS action for armature control 555- Special unittest class for ROS tests that takes care of setting up an 556 appropriate ROS environment (including launching `roscore`). 557 558 559Sockets 560+++++++ 561 562- Support for cancelling asynchronous requests 563- Support for exporting matrices and 3D transformations 564 565pocolibs 566++++++++ 567 568- Large rewrite of pocolibs interface, now using `ctypes` instead of SWIG 569 bindings. This simplies a lot the compilation and maintenance of these 570 interfaces. 571 572Text 573++++ 574 575- Improved the `text` interface, to allow for instance output as `.csv` files. 576 577pymorse 578+++++++ 579 580The Python bindings for MORSE have been completely rewritten, now supporting a 581modern asynchronous interface (based on Python 3.2 *futures*). It is also 582deemed as feature complete: it supports discovery of the simulation components, 583synchronous/asynchronous service invokation (including service cancellation) 584and synchronous/asynchronous read/write of datastream (#216). 585 586MORSE unit-tests now use this new API. 587 588Internals 589--------- 590 591- Substential changes in MORSE internals: 592 - lots of refactoring, to improve code consistency (including 593 {middleware->datastream} (#186)) 594 - many files have been renamed for consistency 595 596Misc 597---- 598 599- MORSE now uses the MORSE_RESOURCE_PATH environment variable to look after 600 custom location for assets: convenient to store your own model out of MORSE 601 tree (#187). 602- Added configuration file required by the Travis buildbot 603- Several large examples or tutorials have been removed (because either 604 deprecation or doubtful usefulness) 605- New CSS for documentation, based on GitHub *minimal* style. 606- Numerous bugfixes, including: 607 - the 'objects flying around' bug, that was due to the way Blender handle 608 transformation matrices (#139). 609 - a bug affecting the color of some materials 610 - bug with logging when restarting the simulation in special cases (#183) 611 612 613 614MORSE 0.6 615========= 616 617General 618------- 619 620- Compatibility with Blender from 2.59 to 2.64a. 621- MORSE is now compatible with Windows 32 and 64 bit. Thanks to Markus Sander 622 for providing the patches and testing 623- The 'morse' executable has slightly different options now. run 'morse -h' for 624 details. 625- Added support for 'no color' and 'reverse colors' log output. 626- Added support for specifying the geometry of the simulator window. 627- Unit-tests coverage improved 628- MORSE (core, ie with only socket support) is now packaged in Debian (and 629 Ubuntu): morse-simulator 630 631User interface 632-------------- 633 634- Possibility to configure and display the view from a simulated camera inside 635 the Blender screen 636- Reset the position of the global camera (CameraFP) by pressing F8 637 638Components 639---------- 640 641Sensors 642+++++++ 643 644- Major rewriting of the IMU sensor and odometry sensor, which now returns more 645 precise datas. While here, add some modifiers to allow more realistic 646 behaviour of such sensors. 647 648Actuators 649+++++++++ 650 651- New differential drive actuator associated to the previously mentioned 652 robots, called 'v_omega_diff_drive'. It converts a given v, omega into left 653 and right wheel speeds 654- Waypoint actuator can be configured to give target destination also in the Z 655 axis. Useful for helicopters and submarines 656 657Robots 658++++++ 659 660- Several models for quadrotors, including more or less realistic controls 661 (using waypoints, stabilized fly model or directly in force). ROS support 662 rely on ASCTEC messages. 663- New more physically realistic robots: Segway RMP 400 and Pioneer 3-DX. Thanks 664 to David Hodo and Pierrick Koch for their work on the physics simulation 665- B21 robot model 666- New textured model for the Yamaha R-Max helicopter 667- Simple model of a submarine robot, along with an underwater environment 668 669Human simulation 670++++++++++++++++ 671 672- Several behaviour fixes in the human control mode 673- Human avatar can now be correctly placed in the scene using the Builder API 674 scripts 675- New tutorial to learn how to control the human avatar 676- Documentation of simulation of multiple humans 677- Kinect-based control of the human in the simulator 678 679Misc 680++++ 681 682- Corrections to the bounding boxes of buildings in outdoor scenarios. Also 683 added textures to the buildings 684- Dependencies on Blender Python API are now wrapped in a single file 685 686Middlewares 687----------- 688 689- Lots of improvements on ROS compatibility. Many new tutorials with detailed 690 explanations, including an update ROS navigation tutorial. 691- Corrections to YARP middleware, allowing it to export data stored as Python 692 lists 693- Improvements to the multi-node architecture using HLA. Including new 694 tutorials and documentation 695- Updated ROS support for fuerte compatibility 696 697Documentation 698------------- 699 700- Make table of contents of the components with images 701 702Misc 703---- 704 705- Add methods in builder to configure UTM coordinates and temperature in the 706 scene. Previously in the Scene_Script_Holder 707 708 709MORSE 0.5 710========= 711 712General 713------- 714 715- MORSE 0.5 requires Blender >= 2.59 and < 2.62 (because of some changes in the 716 matrices handling - support for Blender >= 2.62 is expected for next release) 717- Lots of cleaning (middleware empties have been removed) 718- The command line ``morse run {scene.blend|scene.py}`` now works as expected (*i.e.*, 719 starts the simulation as soon as Blender opens). 720 Optional arguments can be added and are passed to the script 721- Unit-testing support for MORSE (cf doc: dev/testing). Added a target to the build file 722 ('make test'). 723 724GUI 725--- 726 727- First version of a graphical user interface to add components to a scene 728- Plugin for loading DTM/IGN data has been ported to Blender 2.5/Python 3.2 729 730Middlewares 731----------- 732 733- Support of ROS services. Partial support for ROS actions (cf commit 02fda) 734- The long-standing issue with the socket server (bug #162) has been solved. It 735 is now possible to listen to a socket stream without prior initialization. 736 737Builder API 738----------- 739 740- New export script (available as Blender add-on) to export a MORSE Blender 741 scene to the MORSE Builder format. 742- Added support for multi-node configuration in the builder API 743- Added support for static, passive objects 744- Many examples and tutorials have been converted to the Builder API. 745 746Components 747---------- 748 749- Static objects have a redefined set of options to make them active or not, 750 graspable or not, etc. See :doc:`user/others/passive_objects`) 751- New components that can be created from the Builder API, such as: 752 753 - Infrared sensor 754 - Battery sensor 755 - Light switch actuator 756- Camera images can now be vertically flipped via the ``vertical_flip`` property 757 758Multi-node 759---------- 760 761- New abstract API for multi-node implementation. The current socket-based and HLA 762 implementation now use it 763- This allows for having a single builder script to be used on all nodes. The 764 configuration of each node is done using the environment variable ``MORSE_NODE`` 765 766HRI 767--- 768 769Much work has been done in this domain: 770 771- New human avatar with a much improved behaviour/animation. It is controllable 772 from mouse + keyboard or Kinect (experimental) 773- The avatar features a 'manipulation mode' where objects can be picked and 774 dropped, and special objects like drawers and cupboards can be opened. 775- The human avatar can be easily added via the Builder API (instantiate the 776 'Human' class) 777 778 779 780MORSE 0.4.x - "Multinode" release 781================================= 782 783General changes 784--------------- 785- Full support for Blender 2.59 and Python 3.2. 786- Reorganized the documentation, with a brand new main page. 787 788Architectural changes 789--------------------- 790- Added infrastructure for multi-node functionality 791- Use the Builder API to create robots from their description in Python script 792- Changed directory structure and file names for ease of use of the Builder API 793- Use the Python logging interface 794 795Middlewares 796----------- 797- Added support for multiple middleware bindings per component 798- Added support for services through Pocolibs middleware 799- ROS support for the robot's cameras 800- Added support for HLA middleware 801- Added support for MOOS middleware 802 803New components 804-------------- 805- Added a Hummer robot that implements the Blender Vehicle Wrapper 806- Added a 'steer_force' actuator to control the Hummer robot 807- Added an 'armature_actuator' to control the bone structure in the LWR and PR2 robot arms 808 809User interface 810-------------- 811- Add a help display with the keyboard shortcuts available during simulation. Activated by pressing the 'H' key 812 813MORSE 0.3 - "Itizpossible" release 814================================== 815 816General changes 817--------------- 818- Added preliminary support for Blender 2.57 (with Python 3.2) 819- Removed support for Blender 2.49 820 821Architectural changes 822--------------------- 823 824- MORSE now support *services* to configure components 825 and the general behaviour of the simulation at runtime. Services 826 can be either synchronous or asynchronous. 827- Addition of a variable to keep track of the time elapsed in seconds 828 since the simulation started. 829 830Middlewares 831----------- 832 833- Initial support for the ROS (http://www.ros.org) middleware. 834- ROS: Odometry, joint state and laser scanner sensors are exported using standard 835 messages. 836- Sockets: services (RPC) are available 837- YARP: services (RPC) are available 838 839New sensors/actuators 840--------------------- 841 842- clever waypoint controller that avoids obstacles 843 844Simulation supervision 845---------------------- 846 847- Add a shortcut to switch between camera during the simulation (F9) 848- Add a shortcut to replace all objects at their initial position without 849 relaunching the simulation (F11) 850- Add support for the Wiimote to control the human in HRI simulations 851 (external tool using socket-based requests) 852- Requests: ensure some working control of the simulation 853 based on the socket interface (only restart for now) 854 855MORSE 0.2 - The HRI release 856=========================== 857 858General changes 859--------------- 860 861- Switch to Blender 2.5: MORSE now officialy supports Blender 2.5x (x>=4) and 862 the support for Blender 2.49 has been dropped. 863 864- This means that MORSE is now fully Python 3 compatible. New code must be from 865 now valid Python 3 code. 866 867- MORSE homepage is now http://morse.openrobots.org/ 868 869- Documentation has been converted to reStructuredText. HTML version automatically updated 870 every hour to http://morse.openrobots.org/doc/ 871 872- A MORSE bugtracker is now available: https://softs.laas.fr/bugzilla/buglist.cgi?product=morse 873 874Architectural changes 875--------------------- 876 877- Components have "hooks" to export their data. Middleware lives in parallel 878 threads and "visit" the components. In this case, middlewares still lives 879 in the Python VM. Advantage: better decoupling ; middleware can dynamically 880 choose what they want to watch. 881 882- Add 'serialize' methods to the data of each component. This formats the 883data according to the needs of each middleware/architecture. 884 885 886Support for human-robot interaction 887----------------------------------- 888 889- MORSE now offers a human model. It can be controlled in a "first person shooter"-like 890 mode, enabling immersive simulation of human-robot interaction: 891 - mouse-based interactive displacement and grasping of objects (using IK to ensure 892 consistent, fully body motion) 893 - 40-DOF human posture (joint state) is exported by a new sensor called 'human_posture' 894 895New sensors/actuators 896--------------------- 897 898- Support for the PA-10 and Kuka arms. They can be controlled either by specifying 899 a target that the arm tries to reach (using Blender ITASC IK solver) or by 900 sending a set of joint angles. 901 902- new simple waypoint controller: this 'high-level' controller allows to give 903 only a list of waypoint to the robot. The simulator takes care of the navigation 904 (currently, simple straight lines, without any sort of obstacle avoidance) 905 906- "Semantic camera" sensor: MORSE can export position, orientation and name 907 of specifically marked objects that are visible by a camera. 908 909- we now have a fully simulated SICK laser sensor. 910 911Other features 912-------------- 913 914- Possibility to control the camera when the game engine runs (with keyboard, 915 mouse, or attach some view to some robots) 916- Support for Ubuntu 10.04 (hi Lorenz!) 917- Added LAAS Jido robot model with Kuka arm 918- fixed several issues with camera calibration in Blender 919- Added several posters for Genom middleware 920- Fixed the accelerometer sensor 921- fixed several issues with transformation coordinates 922 923MORSE v 0.1 - The outdoor robotics release - 28/07/2010 924======================================================= 925 926First version 927