1What's new in MORSE 1.3? 2======================== 3 4General 5------- 6 7Components 8---------- 9 10Robots 11++++++ 12 13Actuators 14+++++++++ 15 16- Introduce the new actuator :doc:`../user/actuators/arucomarker`, allowing to 17 simulate the ArUco augmented-reality marker. 18 19Sensors 20+++++++ 21 22- The timestamp field is now in seconds instead of milliseconds (`#498 <https://github.com/morse-simulator/morse/issues/498>`_) 23- :doc:`../user/sensors/semantic_camera` gains two properties (`#396 <https://github.com/morse-simulator/morse/issues/396>`_): 24 - `tag` allows to restrict the kind of object you want to detect 25 - `relative` returns the position information of the various objects from 26 the camera sensor frame (and not the global frame). 27 28- :doc:`../user/sensors/laserscanner` gain the possibility to return also a 29 remission value at the `rssi` level. 30- Introduce the new sensor :doc:`../user/sensors/radar_altimeter`, allowing to 31 retrieve the distance to the ground. 32- Improvement of :doc:`../user/sensors/accelerometer`, :doc:`../user/sensors/imu` 33 and :doc:`../user/sensors/velocity`. They now works properly with robots with 34 or without physics, and returns properly information in the sensor frame. 35 The computation method is configurable using the `ComputationMode` property, 36 counterpart of the `ControlType` in several actuators. 37- Introduce the new sensor :doc:`../user/sensors/barometer`, allowing to compute 38 the atmospheric pressure. 39 40Middlewares 41----------- 42 43General 44+++++++ 45 46- Each datastream manager now get an action handler, allowing them to run some 47 specific middleware behaviour once by simulation turn. 48 49Socket 50++++++ 51 52- Socket middleware now accepts the keyword 'port' to specify on which port 53 you want the socket binds itself. 54- It is now possible to synchronise with an external clock using the socket 55 middleware. See the documentation of **time_sync** in 56 :doc:`../user/middlewares/socket`. 57 58Moos 59++++ 60 61- Support for Moos has been enhanced, allowing to use multiples Moos nodes. 62 Moreover, it supports additional actuators such as 63 :doc:`../user/actuators/teleport` and :doc:`../user/actuators/light`. 64 65HLA 66+++ 67 68- HLA can be now used as a general purpose middleware, i.e. it is possible to 69 import / export any actuator / sensor using the HLA interface. Through, for 70 moment, no Simulation Object Model (SOM) has been formally defined for 71 Morse. 72 73 74Builder API 75----------- 76 77API addition 78++++++++++++ 79 80- Add a method ``Environment.configure_stream_manager`` allowing to pass 81 option/information to each datastream manager. 82- It is now possible to control the mist settings in Morse, using 83 ``Environment.enable_mist`` and ``Environment.set_mist_settings``. 84