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The Modular OpenRobots Simulation Engine

README.md

OpenRobots Simulator

(c) LAAS-CNRS/ONERA 2009-2010 LAAS-CNRS 2011-2014

Build Status

MORSE (Modular OpenRobots simulation Engine) is a Blender-based robotic simulator. It is a BSD-licensed project (cf LICENSE).

It is meant to be versatile (simulation of field robotics, indoor robotics, human robot interaction, multi-robots systems) and allow simulation at different levels (from raw cameras to high-level semantics).

The communication with the simulator is middleware independent. At the moment, MORSE supports the following middlewares:

  • ROS
  • Yarp
  • pocolibs
  • MOOS
  • socket

Installation

Please read INSTALL or check the on-line installation instructions.

Documentation

The MORSE documentation is available from the doc/ directory. It is available as well online, on the MORSE website.

You can also subscribe to morse-users@laas.fr.

How to contribute

Even if the code-base is not stabilized yet, contribution to MORSE are more than welcome.

You can contribute new robot models, new sensors, we have a TODO list for the Blender game engine itself...

Feel free to subscribe to morse-dev@laas.fr and ask!

Code is available on GitHub.

Feel free to fork, pull request or submit issues to improve the project!

Acknowledgements

The development of MORSE is partially funded by the Foundation RTRA within the ROSACE project framework, and by DGA http://www.defense.gouv.fr/dga through the ACTION http://action.onera.fr project.

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