Tutorials

Welcome in the MORSE tutorials section!

As a academic simulator for robotics, MORSE is a large piece of software which may require some time to master.

However, you should hopefully be able to get very quickly your first simulation running.

If you did not check it, we recommend you to first go over the Quickstart page and come back here afterwards.

What is the general workflow?

MORSE relies on the Blender 3D package to run your simulation. To create a simulation scene, you need to describe it using the Builder python API, which allows you to simply describes simulation scenes. More about that in a second.

Once you have a description of your simulation, you can run it:

$ morse run <your file>

Now, instruct your middleware (ROS, YARP,...) to address the simulator instead of the real robot, and start your control softwares as you would do on a real robot. If you are not relying on an explicit middleware, you can also use the socket interface socket or the Python API pymorse. MORSE supports the two classic interaction mechanism provided by most robotic middlewares:

1. Using RPC-oriented calls service
2. Using stream-oriented interfaces. datastream

Note

In various places in the documentation, you will see labels like builder, ros or service. They denote the main subjects that the section or the tutorial deal with.

The first simulation

First of all, install MORSE if it is not already done.

Next step, Create your first simulation builder socket. builder socket

Basic MORSE user interface

The next tutorial describes precisely how to launch the MORSE simulation, and how to basically interact with him.

• Getting started: basic MORSE usage

Beginners tutorials

This section shows how MORSE can interact with different middlewares.

• Create your first simulation builder socket
• YARP-based simulation with cameras yarp
• ROS and MORSE tutorial ros
• MOOS and MORSE tutorial moos
• Human-Robot interaction tutorial

Intermediate tutorials

These tutorials provide more in-depth explanations of how to setup simulations with specific requirements.

• A Journey to a New Simulation
• Cat and mouse game tutorial builder socket
• Flying cat and mouse game tutorial builder socket pymorse
• ROS navigation tutorial ros
• Motion Capture HRI simulation
• Services tutorial service socket
• Noise and ghost tutorial builder pymorse
• Basic interaction with another simulator using HLA : the Billard example hla

Multi-node tutorials

These tutorials help setting up a multi-node simulation environment.

• HLA-based hybrid simulation hla
• HLA-based multi-node simulation hla

Blender specific instructions

Since MORSE is completely built over Blender, it is important to know some of its functionality.

• Basic Blender commands
• Advanced Blender commands