robotic_waiter Robotic Waiter Simulation To Compile, go to catkin_ws and run the following command catkin_make To run, use following commands in separate terminals roscore roslaunch phoebe_sim sim_with_planning.launch roslaunch task_manager servers.launch rosrun task_manager tas_manager_node roslaunch phoebe_navigation phoebe_navigation.launch To see the behavior tree open "Groot" in the "Monitor Mode" and connect to the server