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