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RELEASE_NOTES
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RELEASE_NOTES
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MORSE 0.6
=========
General
-------
- Lots of improvents on ROS compatibility. Many new tutorials with detailed explanations
- Compatibility with Blender 2.62: Handling of mathutils.Matrix unsing row major logic
- MORSE is now compatible with Windows 32 and 64 bit. Thanks to Markus Sander for providing the patches and testing
- Improvements in human-robot interaction scenarios
- The 'morse' executable has slightly different options now. run 'morse -h' for details.
- Added support for 'no color' and 'reverse colors' log output.
- Added support for specifying the geometry of the simulator window.
User interface
--------------
- Possibility to configure and display the view from a simulated camera inside the Blender screen
- Reset the position of the global camera (CameraFP) by pressing F8
Components
----------
- New more physically realistic robots: Segway RMP 400 and Pioneer 3-DX. Thanks to David Hodo and Pierrick Koch for their work on the physics simulation
- New differential drive actuator associated to the previously mentioned robots, called 'v_omega_diff_drive'. It converts a given v, omega into left and right wheel speeds
- Waypoint actuator can be configured to give target destination also in the Z axis. Useful for helicopters and submarines
- Human avatar can now be correctly placed in the scene using the Builder API scripts
Middlewares
-----------
- Corrections to YARP middleware, allowing it to export data stored as Python lists
MORSE 0.5
=========
General
-------
- MORSE 0.5 requires Blender >= 2.59 and < 2.62 (because of some changes in the
matrices handling - support for Blender >= 2.62 is expected for next release)
- Lots of cleaning (middleware empties have been removed)
- The command line ``morse run {scene.blend|scene.py}`` now works as expected (*i.e.*,
starts the simulation as soon as Blender opens).
Optional arguments can be added and are passed to the script
- Unit-testing support for MORSE (cf doc: dev/testing). Added a target to the build file
('make test').
GUI
---
- First version of a graphical user interface to add components to a scene
- Plugin for loading DTM/IGN data has been ported to Blender 2.5/Python 3.2
Middlewares
-----------
- Support of ROS services. Partial support for ROS actions (cf commit 02fda)
- The long-standing issue with the socket server (bug #162) has been solved. It
is now possible to listen to a socket stream without prior initialization.
Builder API
-----------
- New export script (available as Blender add-on) to export a MORSE Blender
scene to the MORSE Builder format.
- Added support for multi-node configuration in the builder API
- Added support for static, passive objects
- Many examples and tutorials have been converted to the Builder API.
Components
----------
- Static objects have a redefined set of options to make them active or not,
graspable or not, etc. See :doc:`user/others/passive_objects`)
- New components that can be created from the Builder API, such as:
- Infrared sensor
- Battery sensor
- Light switch actuator
- Camera images can now be vertically flipped via the ``vertical_flip`` property
Multi-node
----------
- New abstract API for multi-node implementation. The current socket-based and HLA
implementation now use it
- This allows for having a single builder script to be used on all nodes. The
configuration of each node is done using the environment variable ``MORSE_NODE``
HRI
---
Much work has been done in this domain:
- New human avatar with a much improved behaviour/animation. It is controllable
from mouse + keyboard or Kinect (experimental)
- The avatar features a 'manipulation mode' where objects can be picked and
dropped, and special objects like drawers and cupboards can be opened.
- The human avatar can be easily added via the Builder API (instantiate the
'Human' class)
MORSE 0.4.x - "Multinode" release
=================================
General changes
---------------
- Full support for Blender 2.59 and Python 3.2.
- Reorganized the documentation, with a brand new main page.
Architectural changes
---------------------
- Added infrastructure for multi-node functionality
- Use the Builder API to create robots from their description in Python script
- Changed directory structure and file names for ease of use of the Builder API
- Use the Python logging interface
Middlewares
-----------
- Added support for multiple middleware bindings per component
- Added support for services through Pocolibs middleware
- ROS support for the robot's cameras
- Added support for HLA middleware
- Added support for MOOS middleware
New components
--------------
- Added a Hummer robot that implements the Blender Vehicle Wrapper
- Added a 'steer_force' actuator to control the Hummer robot
- Added an 'armature_actuator' to control the bone structure in the LWR and PR2 robot arms
User interface
--------------
- Add a help display with the keyboard shortcuts available during simulation. Activated by pressing the 'H' key
MORSE 0.3 - "Itizpossible" release
==================================
General changes
---------------
- Added preliminary support for Blender 2.57 (with Python 3.2)
- Removed support for Blender 2.49
Architectural changes
---------------------
- MORSE now support *services* to configure components
and the general behaviour of the simulation at runtime. Services
can be either synchronous or asynchronous.
- Addition of a variable to keep track of the time elapsed in seconds
since the simulation started.
Middlewares
-----------
- Initial support for the ROS (http://www.ros.org) middleware.
- ROS: Odometry, joint state and laser scanner sensors are exported using standard
messages.
- Sockets: services (RPC) are available
- YARP: services (RPC) are available
New sensors/actuators
---------------------
- clever waypoint controller that avoids obstacles
Simulation supervision
----------------------
- Add a shortcut to switch between camera during the simulation (F9)
- Add a shortcut to replace all objects at their initial position without
relaunching the simulation (F11)
- Add support for the Wiimote to control the human in HRI simulations
(external tool using socket-based requests)
- Requests: ensure some working control of the simulation
based on the socket interface (only restart for now)
MORSE 0.2 - The HRI release
===========================
General changes
---------------
- Switch to Blender 2.5: MORSE now officialy supports Blender 2.5x (x>=4) and
the support for Blender 2.49 has been dropped.
- This means that MORSE is now fully Python 3 compatible. New code must be from
now valid Python 3 code.
- MORSE homepage is now http://morse.openrobots.org/
- Documentation has been converted to reStructuredText. HTML version automatically updated
every hour to http://morse.openrobots.org/doc/
- A MORSE bugtracker is now available: https://softs.laas.fr/bugzilla/buglist.cgi?product=morse
Architectural changes
---------------------
- Components have "hooks" to export their data. Middleware lives in parallel
threads and "visit" the components. In this case, middlewares still lives
in the Python VM. Advantage: better decoupling ; middleware can dynamically
choose what they want to watch.
- Add 'serialize' methods to the data of each component. This formats the
data according to the needs of each middleware/architecture.
Support for human-robot interaction
-----------------------------------
- MORSE now offers a human model. It can be controlled in a "first person shooter"-like
mode, enabling immersive simulation of human-robot interaction:
- mouse-based interactive displacement and grasping of objects (using IK to ensure
consistent, fully body motion)
- 40-DOF human posture (joint state) is exported by a new sensor called 'human_posture'
New sensors/actuators
---------------------
- Support for the PA-10 and Kuka arms. They can be controlled either by specifying
a target that the arm tries to reach (using Blender ITASC IK solver) or by
sending a set of joint angles.
- new simple waypoint controller: this 'high-level' controller allows to give
only a list of waypoint to the robot. The simulator takes care of the navigation
(currently, simple straight lines, without any sort of obstacle avoidance)
- "Semantic camera" sensor: MORSE can export position, orientation and name
of specifically marked objects that are visible by a camera.
- we now have a fully simulated SICK laser sensor.
Other features
--------------
- Possibility to control the camera when the game engine runs (with keyboard,
mouse, or attach some view to some robots)
- Support for Ubuntu 10.04 (hi Lorenz!)
- Added LAAS Jido robot model with Kuka arm
- fixed several issues with camera calibration in Blender
- Added several posters for Genom middleware
- Fixed the accelerometer sensor
- fixed several issues with transformation coordinates
MORSE v 0.1 - The outdoor robotics release - 28/07/2010
=======================================================
First version