= REEM =

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''ROS Software Maintainer: PAL Robotics''

REEM, the humanoid service robot created by PAL Robotics, can be used for several purposes. Thanks to its autonomous navigation system, its user-friendly touchscreen, and its voice and face recognition system, REEM can find its way in various surroundings and help or entertain people in most public environments.

Besides helping you as a guide or amusing you as an entertainer, REEM can also transport small packages, and its dynamic information point can be used with a wide variety of multimedia applications: display an interactive map of the surrounding area, call up a variety of information (weather, nearby restaurants, airlines travel time, etc...), offer tele-assistance via video-conferencing.

More information can be found in the [[http://pal-robotics.com|PAL Robotics]] website.

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== Installation ==
Instructions on how to install can be found in the [[Robots/REEM/Tutorials/Launching a REEM Gazebo simulation|how to launch REEM in gazebo tutorial]] for ROS Hydro.

Please refer to the [[pal-ros-pkg|pal-ros-pkg]] page for source installation instructions for other supported ROS distributions.

== Launching a Gazebo simulation ==
Please read the [[Robots/REEM/Tutorials | tutorials]] to use REEM in a Gazebo simulation.

== Library Overview ==

=== Basic Configuration ===

||'''Component'''        || '''ROS package/stack'''     ||
||Robot-specific Messages|| [[reem_msgs]]               ||
||Robot model (URDF)     || [[reem_description]]        ||

=== Hardware Drivers and Simulation ===

||'''Component'''        || '''ROS package/stack'''              ||
||Controllers            || [[reem_controllers]]                 ||
||Gazebo Simulation      || [[reem_gazebo]], [[reem_plugins]] ||

=== High-Level Capabilities ===

||'''Component'''        || '''ROS package/stack'''     ||
||Kinematics             || [[reem_kinematics]]         ||
||Arm motion planning    || [[reem_arm_navigation]]     ||
||Perception             || [[perception_blort]], [[pal_image_processing]] ||

=== Customizing ===

Since the Fuerte release, setting the '''USE_RGBD_SENSOR''' environment variable to true will enable the optional head-mounted ASUS Xtion Pro Live or Primesense Carmine 1.09.

== Related Repositories ==

[[https://github.com/pal-robotics|PAL Robotics GitHub organization]]