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MORSE supports many different middlewares, including ROS.

As briefly explained here, when using the ROS middleware, each sensor and actuator writes/reads from a ros topic and, if the sensors/actuators has asynchronous services, they will also exposes ROS action servers.

I recommend you to check the ROS + MORSE tutorial.

If you do not need ROS and simply want to communicate with MORSE from various language, you may also want to check the simple socket interface (virtually every language should be able to write/read from a socket).