One of the most challenging problems nowadays is the development of robotic systems capable of carrying out increasingly problematic tasks with a high level of autonomy. In this sense, this thesis work aims to develop a software architecture for a mobile manipulator (Locobot WX250) that can: (i) recognize an obstacle along its path, and (ii) perform pick and place tasks without being aware of how the map is constructed. The mobile manipulator software architecture is implemented using ROS (Robot Operating System) to communicate within its modules. ROS represents the state of the art in middleware software and has a modular structure that can be updated, enriched, or simplified at any moment without corrupting the whole system.