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One of the core assumptions of ROS is the understanding of ROS as a toolbox, not framework. Therefore ROS provides you with many powerful tools that can help you to quickly create solutions for various problems/applications that can be thought off. ROS is flexible and most tools are not created for a specific application. However, this includes that ROS does not provide solutions for a specific application of-the-shelf. You as a ROS user are still the one to create the solution.
For your scenario I think ROS could help a lot, I think you won't have to write to much glue code for the existing ROS modules but you will still have to provide some input (sensors? map?) and for the interaction between navigation and manipulation etc. I think you'll also be moreless on your own.
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