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MORSE is an generic simulator for academic robotics. It focuses on realistic3D simulation of small to large environments, indoor or outdoor, with oneto tenths of autonomous robots.

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

MORSE comes with a set of standard sensors (cameras,laser scanner, GPS, odometry,...), actuators (speedcontrollers, high-level waypoints controllers, generic joint controllers) androbotic bases (quadrotors, ATRV, Pioneer3DX, generic4 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 thestate-of-the-art Bullet library for physicssimulation.

Simulation with MORSE¶

In MORSE, simulations are small Python scripts thatdescribe the robots and the environment. MORSE provides several command-linetools to create stubs, and it takes virtually no time to get a first simulationrunning.

One of the main design choice for MORSE is the ability to select the degree ofrealism of the simulation: if you are working on vision, you need accuratecamera 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 thecontrary, if you work on robot supervision, you may prefer skip the perceptionstack and directly work with objects ID and positions. MORSE lets you definehow realistic the different components of you robot need to be to fit yourneeds.

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 ifnecessary, or fixed step that ensures the simulation is accurate. In thiscase, MORSE exports its own clock that can be used to adjust othertime-dependent modules in your system.

Extending MORSE¶

MORSE is mostly written in Python: except for computation intensive processes(like 3D rendering or physics simulation), MORSE is a purely Pythonapplication. This enable easy and fast modification of the source code.

Besides, MORSE has been designed to be modular: adding a new sensor, a newactuator, a post-processing (like applying a noise function), adding newservices, or even a complete communication middleware is reasonably easy anddocumented.

Integration in your workflow¶

MORSE do not make any assumption on your architecture. MORSE currentlysupports 6 open-source middlewares (ROS, YARP, Pocolibs, MOOS, HLA andMavlink). Check here the exact list of features supported for eachmiddleware.

It also supports a simple socket-based protocol for easy integration inother languages/toolbox. Complete bindings for Python are provided.

MORSE comes with a set of standard sensors and actuators. To suit your specific need, MORSE also provides alightweight overlay mechanism to quickly change the nameand types of exchanged data flows.

Also note that MORSE benefits from Blender import/export capabilities: existingmodels in many 3D formats (Collada, DXF, 3DS Max, VRML to name a few) can beused to build robots and environments.

Performances¶

MORSE is able to handle dozen of robots in a single environment as long ascameras are not simulated (because of bandwidth limitation).

For instance, MORSE running on an Opteron quadcore 2GHz, in headless mode (i.e.without 3D acceleration), can simulate:

  • one robot with a pose sensor at 250Hz
  • 50 robots with pose sensors at ~90Hz
  • 10 robots with pose and laser scanner at ~40Hz (pose) and ~18Hz (laser scans)

(measured with standard ROS tools)

When cameras do no need to be simulated, MORSE offers a fast mode with muchimproved performances.

MORSE is also suited for large simulations of complex robots: MORSE can be runas a distributed network of simulation nodes. Each nodeautomatically synchronizes with the others (however, due to latencies, do notexpect to simulate accurate physical interactions in the distributed mode).

MORSE installation¶

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MORSE is packaged in Debian/Ubuntu: sudo apt-get install morse-simulator

MORSE is also easy to compile from the source. It has only two dependencies:Python and Blender (well, plus the middlewares you want to use, obviously). AnyLinux distribution should provide out of the box all required dependencies.

MORSE installation is based on CMake, and allows youto only install support for parts relevant to your needs (why installing YARPsupport if you are using ROS?).

MORSE is also available as a robotpkgpackage: robotpkg is a package manager for robotics related software thatwill take care automatically of all dependencies required by MORSE.

MORSE as a software project¶

MORSE and all the libraries it relies on are open-source projects.

MORSE itself is licensed under a permissive BSD license: you can use it for anypurposes, without having to share your modifications back.

This also means that MORSE follows a open development process: you can forkMORSE source code on GitHub andeverybody is invited to propose new features, report bugs and submit patches.

MORSE tries to follow software development good practises, like continuousintegration.

Community¶

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

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

MORSE is also based on Blender for modelling, 3Drendering 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 largecommunities 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 wouldstill 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 roboticscommunity.

Documentation¶

MORSE has a complete and up-to-date online documentation, both for the users andthe developers: MORSE documentation.

Several tutorials are also available, for a quick start.

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Focus on academic requirements¶

MORSE is born at LAAS-CNRS, a public French laboratory,one of the biggest in robotics.

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Many more universities and institutes have joined the effort and collaboratively take part in assuring thefuture of MORSE.

Our close interactions with academic research in robotics worldwide guaranteesthat many innovative requirements end up in our roadmap without much delay.

Check here MORSE related publications and workshop.

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What else?¶

To name a few other features:

  • human-robot interaction simulation, with controllable human avatar
  • deep integration with unit-testing frameworks: use MORSE to test your ownsoftware

MORSE limitations¶

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Last but not least, MORSE has some important limitations you must be aware ofwhen assessing simulation solutions:

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  • MORSE has (almost) no graphical user interface. While some consider it as anadvantage, others may miss it. An important correlate: MORSE is primarilytargeted at experienced computer scientists. While we spend a lot of timedesigning a convenient and intuitive interface (after all, we use it on adaily base for our own researches!), do not use MORSE if you are notcomfortable with command-line tools.
  • contrary to other simulators, MORSE does not embed any advanced algorithms(like path planning). You are expected to run them in your own robot softwarestack.
  • we do not (yet?) consider MORSE as a physically accurate simulator: while werely on a state-of-the-art physics engine (Bullet), do not expect toaccurately simulate robot arm dynamics or fine grasping. Other projects aredoing that much better (like OpenGraspfor grasping).
  • MORSE is mostly developed and supported on Linux. MORSE is known to also runon MacOSX and Microsoft Windows, but only limited support can be provided forthese platforms.
  • As a not-for-profit, academic project, we do not offer any professionalsupport beyond the documentation and the public mailing-lists. However,nothing is stopping third party companies to start providing commercialservices around MORSE.