Mobile manipulator which can autonomously navigate in a restaurant environment while serving food to the customers

• MoveIt

sudo apt-get install ros-noetic-moveit

• Gazebo link attacher
• To run the kinematics scripts (python3)

pip3 install sympy

• [RECOMMENDED]Create a new workspace named "iceberg_ws" and build it, then copy or merge the src/ folder inside this workspace
• Compile the workspace

catkin_make

• From workspace root folder, run the following command

source devel/setup.bash

• Launch the Iceberg robot into the gazebo environment with following command

roslaunch mobile_manipulator_body mobile_manipulator_gazebo.launch

• Open a new terminal for running the moveit backend for Iceberg and execute these two commands

source devel/setup.bash

roslaunch iceberg_moveit_config demo.launch

• To operate Iceberg in this environment open a new terminal, and execute following command

source devel/setup.bash

rosrun mobile_manipulator_body iceberg.py