The full system (action servers, action clients, Gazebo environment, cube spawn) can be launched using initial_state_launch.py. The main state machine node can be run using run_pick_and_place.py

Our Perception Strategy is implemented using cube_locator_client.py and visual_block_perception_srv.cpp

The Navigation Implementation is carried out using the following three Action Server-Clients:

1. 1.  Base Navigation: move_locobot_base_action_server.py, move_base_client.py

   2. Arm Movement: move_arm_action_srv.cpp, move_arm_client.py

   3. Gripper Movement: move_gripper_action_server.py, move_gripper_client.py