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| * [[http://morse.openrobots.org/|Morse's web pages]] | * [[http://homepages.laas.fr/slemaign/openrobots/doku.php?id=morse:morse|Morse's web pages]] |
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MORSE, the OpenRobot Simulator
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Main features
- A versatile simulator for generic mobile robots simulation (single or multi robots),
- Enabling realistic and dynamic environments (with other interacting agents -humans- or objects),
- Don't reinvent the wheel: critical components reused from other opensource projects (Blender for 3D rendering + physical simulation + UI, dedicated robotic middlewares for communications + robot hardware support),
- Seamless workflow: since the simulator rely on Blender for both modelling and the realtime 3D engine, creating and modifying a simulated scene is straigthforward.
- Entierely scriptable in Python,
- Adaptable to various level of simulation realism (for instance, we may want to simulate exteroceptive sensors like cameras in certain cases and access directly to a higher level representation of the world -like labelled artifacts- in other cases),
Currently compatible with YARP and LAAS OpenRobots robotics frameworks,
- Fully open source, BSD-compatible.
Documentation
Videos
Videos are availables online on vimeo
Source code
Road Map
The first release of MORSE contains only a subset of the final simulator specification.
Amongst the planned features:
- Support for arms simulation, based on inverse kinematics. This has been separately developped by the Leuven's university and will be merge into MORSE over the next releases,
- Raw sockets interface + full compatiblity with the ROS robotics framework (other robotics framework are planned as well. Let us know if you want to contribute in this area),
- Developement of the user interface,
- Scalablity (both in term of simulation capacity and ease of deployment),
- Multi-node simulations (several Blender nodes can be started on several computer and automaticaly synchronise, which should allow simulations of tenth of robots in the same scene),
- Dedicated supervision node that would allow to: observe the simulation, display logs and metrics, start/stop robots, dynamically alter the scene (like moving an obstacle in front of a robot, etc.).