Mobile robotics is a research area that has witnessed incredible advances for the last decades. Within this well-studied domain of mobile robotics, our area of interest is robots that inhabit in unmodified office-like environments that are designed for and shared with people. Issues like mapping, self-localization, and autonomous navigation in an indoor environment are popular issues in the field of autonomous robots and have been deeply studied for the past few years. The presented work describes how a Robot Operating System ROS-based control system is used with a mobile robot for self-localization, indoor mapping and autonomous navigation in an office like environment.