This paper presents the development and implementation of a robotics laboratory for the verification of serial robot object manipulation models and mobile robot autonomous navigation models in structured environments. Furthermore, it serves as a tool for advanced education in service robotics. For the laboratory’s implementation, software and hardware elements were developed and implemented, which allow the reproduction of test scenarios and different contexts within structured environments. To facilitate model testing in different scenarios and contexts in serial and mobile robotics, it was determined that its constituent elements would be at scale, allowing the knowledge gained to be subsequently transferred to full-scale models. Based on the laboratory’s physical robots, the software elements were developed on the ROS 2 middleware platform, so that control and sensing information can be handled dynamically and in a standardized way. The laboratory’s implementation enables the verification of object manipulation models in serial robots and autonomous navigation models. Additionally, the documentation generated following best practices serves as valuable reference material used for teaching serial and mobile robotics.