Implementation of mobile manipulator tasks in the ROS-MoveIt frameworks

Autonomous and mobile robots are common in today's world and are integrated to work and collaborate with humans. They can be of great value in saving time and effort of its human owners by helping with the implementation of various tasks traditionally done by humans. Picking up and carrying objects to their destination is one example. For this reason it is interesting to investigate the tools that can make this human-robot interaction possible. One of the main tools investigated in this project is MoveIt framework, designed to bridge the gap between developers and manipulator motion planning. In this research MoveIt Task Constructor is the main package used to plan and execute the manipulator motion. On the other hand, integral part of modern mobile robots is ROS framework. This project investigates various tools ROS offers in order to help the robot localize, navigate and perceive the environment.