Arduino/ROS2 Self-Driving Robot 120mm Build Pack

Learn professional robotics basics hands-on by building this little Arduino and ROS2-compatible robot. No prior knowledge of ROS2 or Arduino is required.

Maker’s Pet Mini robot consists of a 120mm round base, two N20 motors (differential drive), a 360° scanning 2D LiDAR distance sensor, a motor driver board and an ESP32 development board. The Mini robot comes with step-by-step “from-scratch” assembly, setup, bring-up, operation instruction videos and troubleshooting instructions.

Thanks to the LiDAR distance sensor, this robot can sense obstacles, create a map of your room, self-drive itself completely autonomously using the map and self-drive completely autonomously while creating a map, e.g. using frontier exploration.

Since this robot is built using the popular open-source ROS2 Robot Operation System, you can program it using C++ or Python.

I recommend this build pack for technically inclined high-schoolers, college students and adult robotics enthusiasts. All videos show everything “zero to hero”. That said, previous familiarity with Arduino can be helpful.

Expected in H1 2026, all Maker’s Pet robots, including this one, will support running software apps. For example, download (or write and publish) an app to make the robot play with toys.

Product short (18650 battery holder option)

Assembly step-by-step instructions

Assembly, setup, bring-up and operation video instructions

Technical Specifications:

• 120mm base diameter
• Height as measured from the floor to top of LiDAR approx. 86.15mm
• 3D printed using PETG plastic
  • There may be stringing left over after 3D printing. The stringing does not affect the functionality.
• Weight in default configuration approx. 12oz including screws
• Requires a local PC running Windows (8GB+ RAM) or Linux (4GB+ RAM) and a 2.4GHz WiFi connection
• See documentation for individual components (links below) for more details

3MF (STL) files for 3D printing

• Download Lidar skirts, Lidar posts, board posts, caster roller, caster mounts, 2S battery holder backstop
• Download robot base
• Download wheels
• Download motor clamps

Documentation

• The most up-to-date instructions and troubleshooting guide
• Step-by-step assembly, setup, bring-up and operation video series and short demo
• Driver board documentation including schematic, 3D STEP model
• 3D STEP files
  • body 3D STEP model
  • motor clamps 3D STEP
  • wheels 3D STEP
• Complete Fusion 360 3D design source files you can modify and 3D print
• Robot config.yaml
• Operation command reference
• Kaia.ai firmware and release history
• Kaia.ai ROS2-based software release history
• ROS2 documentation including C++, Python programming tutorials
• Other parts documentation here including 3D STEP models for battery holders, motors, etc.
• Kaia.ai firmware config.yaml configuration reference. Read it if you are using non-default motors, LiDAR model, wheels, robot body size, etc.

Order Options

• To keep the assembly and bring-up easy, I strongly recommend using kit components only – e.g. not motors purchased elsewhere, not wheels of different size, not another LiDAR model, etc.
  • This is because I have configured and calibrated the robot’s firmware and ROS2 package to use the kit’s motors, LiDAR sensor, board, wheel and base diameters and so on.
  • Using a different motor, LiDAR, board, wheels or base of different sizes, etc. is entirely possible, but not recommended for beginners because it may require considerable additional advanced firmware configuration, calibration and ROS2 robot package editing.
  • For a list of LiDAR sensors and motor types compatible with the firmware, please see documentation here
• You can 3D print all 3D-printable parts yourself – in the color of your preference – and save some money. In this case, set the “3D Printed Parts” option to “None”.

Parts list

The list of parts depends on the options you have selected. An order with all options included contains:

• 1x LDROBOT LD14P 2D LiDAR sensor with a 1x 10cm LDROBOT LD14P breakout cable
• 2x 12V N20 encoder motors, 2x N20 motor breakout cables and 1x pair of N20 motor clamps
• 2x 43mm precision wheels including 2x wheel hubs and 2x tires
• 1x 6xAA battery holder (batteries not included) OR 1x 2-cell 18650 battery holder, (batteries not included), with additional parts below
  • 2S (2-cell in series) 18650 battery option includes 1x additional battery holder backstop (to keep the battery holder in place)
  • 2x additional M3 6mm cross flat countersunk screws
  • A wider LDROBOT LD14P LiDAR skirt modified (instead of the regular size skirt) to accommodate the 2-cell 18650 battery holder
  • IMPORTANT: please read additional instructions for use with rechargeable batteries in the WARNINGS section below.

• 1x 120mm Robot Body including
  • 4x LiDAR posts
  • 4x board posts
  • 1x 120mm base
  • 1x LDROBOT LD14P skirt
  • 1x caster roller
  • 1x pair of caster mounts
  • 1x caster roller shaft
  • 14x M3 6mm cross flat countersunk screws
  • 13x M3 6mm hex button screws for LiDAR
  • 1x steel Allen hex key
• 1x ESP32 or ESP32E 30-pin microcontroller development board
• 1x BDC-30P motor driver board

Technical Support

• Visit our support forum. Both hardware and software questions are welcome.
• View instruction videos on our YouTube channel
• Join our Facebook robotics groups here, here and here (software)
• Join our Reddit forums r/ArduinoAndRobotics and r/MakersPet

Warnings:

• This product contains small parts. Keep away from small children.
• Maker’s Pet boards are designed to be used with non-rechargeable alkaline batteries. It is possible to power the boards using rechargeable batteries if you follow proper safety precautions.
  • Rechargeable batteries can be dangerous if mishandled.
  • Use PROTECTED rechargeable batteries only – with protection from short circuit, 5A peak overcurrent, over-discharge, over-charge, over-heating, and physical damage (e.g. 18650 in steel cans).
  • You will need to charge batteries using your own adapter appropriate for your own batteries.
  • Your use of rechargeable batteries is AT YOUR OWN RISK.

Sustainability

• 3D printed with solar energy