Design of Modular System for Mobile Manipulator Robot

In this paper, we built a modular system for mobile manipulator robot include vision system, strategy system, and control system that is based on Robot Operating System (ROS)[1]. This paper proposes a communication between different systems with ROS that help us to achieve system modularization. This system can let robot take the various tasks, such as pick and place task, mobile navigation task, and kinds of tasks that expect on a service robot.