  We present the design and implementation of a taskable reactive mobile
manipulation system. In contrary to related work, we treat the arm and base
degrees of freedom as a holistic structure which greatly improves the speed and
fluidity of the resulting motion. At the core of this approach is a robust and
reactive motion controller which can achieve a desired end-effector pose, while
avoiding joint position and velocity limits, and ensuring the mobile
manipulator is manoeuvrable throughout the trajectory. This can support
sensor-based behaviours such as closed-loop visual grasping. As no planning is
involved in our approach, the robot is never stationary thinking about what to
do next. We show the versatility of our holistic motion controller by
implementing a pick and place system using behaviour trees and demonstrate this
task on a 9-degree-of-freedom mobile manipulator. Additionally, we provide an
open-source implementation of our motion controller for both non-holonomic and
omnidirectional mobile manipulators available at jhavl.github.io/holistic.
