diff --git a/skills/src/lasr_skills/__init__.py b/skills/src/lasr_skills/__init__.py
index 34cad339..e4523441 100755
--- a/skills/src/lasr_skills/__init__.py
+++ b/skills/src/lasr_skills/__init__.py
@@ -30,3 +30,4 @@
 from .find_person_and_tell import FindPersonAndTell
 from .count_people import CountPeople
 from .json_qa import JsonQuestionAnswer
+
diff --git a/tasks/restaurant/CMakeLists.txt b/tasks/restaurant/CMakeLists.txt
new file mode 100644
index 00000000..f4c0bb9f
--- /dev/null
+++ b/tasks/restaurant/CMakeLists.txt
@@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(restaurant)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  lasr_skills
+  rospy
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES restaurant
+#  CATKIN_DEPENDS lasr_skills rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/restaurant.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/restaurant_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+catkin_install_python(PROGRAMS
+  scripts/main.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_restaurant.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/tasks/restaurant/package.xml b/tasks/restaurant/package.xml
new file mode 100644
index 00000000..a43015e8
--- /dev/null
+++ b/tasks/restaurant/package.xml
@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>restaurant</name>
+  <version>0.0.0</version>
+  <description>The restaurant package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="jared.swift@kcl.ac.uk">Jared Swift</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>MIT</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/restaurant</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>lasr_skills</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_export_depend>lasr_skills</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>lasr_skills</exec_depend>
+  <exec_depend>rospy</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/tasks/restaurant/scripts/main.py b/tasks/restaurant/scripts/main.py
new file mode 100644
index 00000000..a57f9298
--- /dev/null
+++ b/tasks/restaurant/scripts/main.py
@@ -0,0 +1,11 @@
+#!/usr/bin/env python3
+
+import rospy
+from geometry_msgs.msg import PoseWithCovarianceStamped
+from restaurant.state_machine import Restaurant
+
+if __name__ == "__main__":
+    rospy.init_node("restaurant")
+    bar_pose_map = rospy.wait_for_message("/amcl_pose", PoseWithCovarianceStamped)
+    restaurant = Restaurant(bar_pose_map.pose.pose)
+    restaurant.execute()
diff --git a/tasks/restaurant/setup.py b/tasks/restaurant/setup.py
new file mode 100644
index 00000000..2bb6982d
--- /dev/null
+++ b/tasks/restaurant/setup.py
@@ -0,0 +1,10 @@
+#!/usr/bin/env python3
+
+from distutils.core import setup
+
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(packages=["restaurant"], package_dir={"": "src"})
+
+setup(**setup_args)
diff --git a/tasks/restaurant/src/restaurant/__init__.py b/tasks/restaurant/src/restaurant/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/tasks/restaurant/src/restaurant/state_machine.py b/tasks/restaurant/src/restaurant/state_machine.py
new file mode 100644
index 00000000..472109c2
--- /dev/null
+++ b/tasks/restaurant/src/restaurant/state_machine.py
@@ -0,0 +1,109 @@
+import smach
+import smach_ros
+from geometry_msgs.msg import Pose
+from lasr_skills import AskAndListen, GoToLocation, Say
+from restaurant.states import Survey
+from std_msgs.msg import Empty
+
+
+class Restaurant(smach.StateMachine):
+
+    def __init__(self, bar_pose_map: Pose) -> None:
+        super().__init__(outcomes=["succeeded", "failed"])
+
+        with self:
+            smach.StateMachine.add(
+                "WAIT_START",
+                smach_ros.MonitorState(
+                    "/restaurant/start",
+                    Empty,
+                    lambda _ud, _msg: False,
+                ),
+                transitions={
+                    "valid": "WAIT_START",
+                    "preempted": "WAIT_START",
+                    "invalid": "SAY_START",
+                },
+            )
+
+            smach.StateMachine.add(
+                "SAY_START",
+                Say(text="Start of Restaurant task."),
+                transitions={
+                    "succeeded": "SURVEY",
+                    "aborted": "failed",
+                    "preempted": "failed",
+                },
+            )
+
+            smach.StateMachine.add(
+                "SURVEY",
+                Survey(),
+                transitions={
+                    "customer_found": "GO_TO_CUSTOMER",
+                    "customer_not_found": "failed",
+                },
+            )
+
+            smach.StateMachine.add(
+                "GO_TO_CUSTOMER",
+                GoToLocation(),
+                remapping={"location": "customer_approach_pose"},
+                transitions={"succeeded": "TAKE_ORDER", "failed": "failed"},
+            )
+
+            smach.StateMachine.add(
+                "TAKE_ORDER",
+                AskAndListen(
+                    tts_phrase="Hello, I'm TIAGo. What can I get for you today?"
+                ),
+                remapping={"transcribed_speech": "order_str"},
+                transitions={"succeeded": "SAY_ORDER", "failed": "failed"},
+            )
+
+            smach.StateMachine.add(
+                "SAY_ORDER",
+                Say(format_str="Your order is: {}. I will deliver it shortly."),
+                remapping={"placeholders": "order_str"},
+                transitions={"succeeded": "GO_TO_BAR", "failed": "failed"},
+            )
+
+            smach.StateMachine.add(
+                "GO_TO_BAR",
+                GoToLocation(location=bar_pose_map),
+                transitions={"succeeded": "REQUEST_ITEMS", "failed": "failed"},
+            )
+
+            smach.StateMachine.add(
+                "REQUEST_ITEMS",
+                Say(format_str="Please get me {}"),
+                remapping={"placeholders": "order_str"},
+                transitions={
+                    "suceeded": "succeeded",
+                    "aborted": "failed",
+                    "preempted": "failed",
+                },
+            )
+
+            smach.StateMachine.add(
+                "RETURN_TO_CUSTOMER",
+                GoToLocation(),
+                remapping={"location": "customer_approach_pose"},
+                transitions={"succeeded": "SAY_TAKE_ORDER", "failed": "failed"},
+            )
+
+            smach.StateMachine.add(
+                "SAY_TAKE_ORDER",
+                Say(text="Here is your order"),
+                transitions={
+                    "succeeded": "GO_TO_SURVEY",
+                    "aborted": "failed",
+                    "preempted": "failed",
+                },
+            )
+
+            smach.StateMachine.add(
+                "GO_TO_SURVEY",
+                GoToLocation(location=bar_pose_map),
+                transitions={"succeeded": "SURVEY", "failed": "failed"},
+            )
diff --git a/tasks/restaurant/src/restaurant/states/__init__.py b/tasks/restaurant/src/restaurant/states/__init__.py
new file mode 100644
index 00000000..df813a0c
--- /dev/null
+++ b/tasks/restaurant/src/restaurant/states/__init__.py
@@ -0,0 +1 @@
+from .survey import Survey
diff --git a/tasks/restaurant/src/restaurant/states/survey.py b/tasks/restaurant/src/restaurant/states/survey.py
new file mode 100644
index 00000000..a8a0436c
--- /dev/null
+++ b/tasks/restaurant/src/restaurant/states/survey.py
@@ -0,0 +1,7 @@
+import smach
+
+
+class Survey(smach.StateMachine):
+
+    def __init__(self) -> None:
+        super().__init__(outcomes=["customer_found", "customer_not_found"])