ROSPlan is an important tool that creates a bridge between planning and robotics within the ROS framework, however for various reasons is not yet widely used. For instance, we have observed that most of the decision making engines used in RoboCup@Home robotic competitions is based on automatas. We propose an approach to strongly motivate the use of planning in robotics by encapsulating the robot primitive behaviors into well organized, structured state machines wrapped around robot actions. In this tutorial we take a hands-on approach using a simulated service robot, working on an apartment like environment. At the end of the tutorial, attendees should be able to construct the required domain, problem definition, and required knowledge that will enable the agent to accomplish simple household tasks.