Morse

Higher Edu - Research dev card
Development from the higher education and research community
  • Creation or important update: 18/07/12
  • Minor correction: 28/05/14
Keywords

Morse : Generic simulator for robotics

This software was developed (or is under development) within the higher education and research community. Its stability can vary (see fields below) and its working state is not guaranteed.
  • Web site
  • System: UNIX-like, Windows, MacOS X
  • Current version: 1.2 - january 2014
  • License(s): BSD
  • Status: stable release
  • Support: maintained, ongoing development
  • Designer(s): Main developers: Arnaud Degroote (LAAS-CNRS), Gilberto Echeverria (LAAS-CNRS), Michael Karg (TUM), S√©verin Lemaignan (LAAS-CNRS). See the full list.
  • Contact designer(s): morse-dev AT laas DOT fr
  • Laboratory, service: LAAS, ONERA, Technische Universit√§t M√ľnchen (TUM) full list

 

General software features

MORSE is a generic simulator for academic robotics. It focuses on realistic simulation of small to large environments, indoor or outdoor, with one to over a dozen of autonomous robots. It provides a set of standard sensors (cameras, laser scanner, GPS, odometry,...), actuators (speed controllers, high-level waypoints controllers, generic joint controllers) and robotic bases (ATRV, generic 4 wheel vehicle, PR2,...) used in robotics research laboratories. New components can easily be added.

Morse can use and test software components interacting through several middlewares used in robotics, including: Fiche Plume pocolibs, yarp and ROS.

One of the main design choice for MORSE is the ability to control the degree of realism of the simulation, form photo-realistic rendering for image processing to semantic levels, avoiding heavy processing to extract information.

Morse is based on the Fiche Plume Blender modelling and real-time 3D rendering environment and on the Bullet physics simulator engine.

Context in which the software is used

Academic research in robotics, development and debugging of software components, teaching,...

Publications related to the software