Abstract
This paper presents the development of an autonomous indoor service robot that can navigate and interact with an unfamiliar environment. Equipped with a depth camera, IMU, drive motors, and a gripper arm, it uses object, text, and barcode recognition to identify and interact with specific items. The system is built on a Robotis TurtleBot3 with an OpenMANIPULATOR-X arm, running ROS, and an Intel RealSense D435i camera. The platform demonstrates autonomous recognition and task execution indoors, with potential for expansion to diverse applications. In addition, the robot estimates depth information and size information utilizing the depth camera information. Such information is important not only in object manipulation but also in assessing spatial characteristics for intelligent obstacle avoidance.