These are packages for mobile manipulator control.

https://youtu.be/7-oHuMfVjQM

• RPlidar_ros : http://wiki.ros.org/rplidar

• Turtlebot3 : http://wiki.ros.org/turtlebot3

• Navigation tuning : http://emanual.robotis.com/docs/en/platform/turtlebot3/navigation/#tuning-guide

$ sudo apt-get install ros-noetic-move-base
$ sudo apt-get install ros-noetic-gmapping

If you include the packages about navigation-kinetic-devel, you don't need you install below components

$ sudo apt-get install ros-noetic-amcl
$ sudo apt-get install ros-noetic-rosserial-python
$ sudo apt-get install ros-noetic-map-server
$ sudo apt-get install ros-noetic-range-sensor-layer
$ sudo apt-get install ros-noetic-global-planner
$ sudo apt-get install ros-noetic-dwa-local-planner
$ sudo apt-get install ros-noetic-sensor-msgs

If you have errors about turtlebot3_msgs, download the package.

$ cd ~/catkin_ws/src
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

Install ros1_bridge(for operate with Nav2 stack)

$ sudo apt-get install ros-foxy-ros1-bridge

If this command doesn't work, you will have to fix it manually.

$ sudo ntpdate -u time.bora.net

$ roslaunch servingbot_bringup servingbot_robot.launch

• Mobile robot

Excute the Mobile robot with navigation

1.  $ roslaunch servingbot_navigation servingbot_navigation_all.launch 

• Manipulator

Excute the Manipulator with find objects

2.  $ roslaunch manipulator_moveit_config_second manipulator_all.launch 

• Simple_navigation_goal

Excute the package that stores location information

3.  $ rosrun simple_navigation_goals_pose simple_navigation_goals_pose 

• App communication

Receive order information from Tablet

4.  $ rosrun rosjava_catkin_package_a my_pub_sub_tutorial com.github.rosjava.rosjava_catkin_package_a.my_pub_sub_tutorial.Talker 

• Bringup

Excute the robot

$ roslaunch servingbot_bringup servingbot_robot.launch

• Mapping

Excute slam with gmapping

$ roslaunch servingbot_slam servingbot_slam.launch

Teleoperation using keyboard

$ roslaunch servingbot_teleop servingbot_teleop_key.launch

Save the map

$ rosrun map_server map_saver -f {file_name}

• Navigation

Excute the navigation package

$ roslaunch servingbot_navigation servingbot_navigation.launch

Excute the package that stores location information

$ rosrun simple_navigation_goals_pose simple_navigation_goals_pose