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Smart Anything Everywhere

Cyber-Physical Systems Engineering Labs is part of the Smart Anything Everywhere initiative.

This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 644400.

MORSE

MORSE is a generic simulator for academic robotics. It focuses on realistic 3D simulation of small to large environments, indoor or outdoor, with one to tenths of autonomous robots.

MORSE can be entirely controlled from the command-line. Simulation scenes are generated from simple Python scripts.

MORSE comes with a set of standard sensors (cameras, laser scanner, GPS, odometry,...), actuators (speed controllers, high-level waypoints controllers, generic joint controllers) and robotic bases (quadrotors, ATRV, Pioneer3DX, generic 4 wheel vehicle, PR2,...). New ones can easily be added.

MORSE rendering is based on the Blender Game Engine. The OpenGL-based Game Engine supports shaders, provides advanced lightning options, supports multi-texturing, and use the state-of-the-art Bullet library for physics simulation.

Simulation with MORSE

In MORSE, simulations are small Python scripts that describe the robots and the environment. MORSE provides several command-line tools to create stubs, and it takes virtually no time to get a first simulation running.

One of the main design choice for MORSE is the ability to select the degree of realism of the simulation: if you are working on vision, you need accurate camera sensors, but may not care about the realism of your motion controller, and you may find a waypoint controller good enough and easier to use. On the contrary, if you work on robot supervision, you may prefer skip the perception stack and directly work with objects ID and positions. MORSE lets you define how realistic the different components of you robot need to be to fit your needs.

MORSE also supports two different strategies for handling time: best effort, that tries to keep a real-time pace, at the cost of dropping frames if necessary, or fixed step that ensures the simulation is accurate. In this case, MORSE exports its own clock that can be used to adjust other time-dependent modules in your system.

Community

According to Ohloh, MORSE is an active and mature project, with well over 20 contributors.

MORSE is used by over 15 robotic labs in the world, and questions on its mailing-lists (morse-users@laas.fr and morse-dev@laas.fr) are usually answered within a few hours.

MORSE is also based on Blender for modelling, 3D rendering with shader support, import/export of 3D models, and Bullet for physics simulation.

These two huge open-source projects are very active and are supported by large communities of users and developers. This means tons of tutorials, code examples, reusable snippets, etc. This also ensures that, even if the MORSE core team would disappear, you would still be able to ask for support!

MORSE also integrates with other large open-source projects like ROS, which further anchors it into the open-source robotics community.

Further reading

More information can be found on MORSE homepage.

Crescendo logo

using the MORSE platform

Design centre

This platform is supported by our France design centre.

France design centre