References

For the Robot we used, the creators are credited below:

Spartan-Velanjeri/UR-MiR-mobile-manipulator: ROS2 package for a Mobile Manipulator capable of Navigation and Manipulation functionality 

Thank you to Brandon Wang, and Yash Gangavarapu who worked with me and our repository is linked below:
brandon.wang649@duke.edu / team8_finalproject · GitLab 

Thank you to Reagan Massey who helped guide us in the right direction and offer pointers on where our errors were. Thank you to Professor Oca and Evan Kusa who taught this course and provided us this opportunity.