@mcamp
https://github.com/tue-robotics/tue-robotics.github.io/wiki/Getting-started should help you to get started.
I ran a simulation locally of the RoboCup@Home Help-me-carry challenge, a bag file of that is at
https://www.dropbox.com/s/imy5waa5aqqwdwu/robocup_record_2017-08-10-19-34-33.bag?dl=0
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