Here is a 100% ROS-based robotic platform designed with researchers in mind. TIAGo comes with navigation, perception, and manipulation features. It is completely configurable and has a laptop tray with USB/Ethernet ports. The arm can reach the floor or as high as 175cm. It can also pick up 2kg objects.
The robot has a compact design with the arm folded. It has advanced controllers and multiple control modes. You can find out more about it here.