Complete ROAMR setup

This is my robot in it's complete setup, of course I'll work on actually fixing everything in place properly, but all the hardware and such is there. I haven't been able to reliably send the Kinect data over wifi using ROS, so unfortunately the mapping and navigation algorithm isn't implemented yet, however I am controlling the robot from my laptop remotely over ROS. There are nodes running on each of the computers:

• The controlling laptop publishes steering data (this is what you see running in the terminal at the beginning)
• The robot in turn listens to this steering topic, and writes the appropriate signal to the Arduino onboard, which then controls the actual motors.
• The robot also publishes the Kinect data over ROS topics, however they don't seem to get through (my network stats show that the outgoing data constantly peaks at around 230KiB/s, but no actual images get displayed on the host computer) I believe this is because of the poor wifi card built into the laptop on to of the robot, I'm currently working on getting this to work
• The controlling laptop listens in to this data, and will, once it's working, run it through the ROS RGB-D SLAM algorithm.

Eventually, I will try to implement odometry for the robot so I can use the ROS gmapping algorithm instead, which produces 2D maps of the robots environment and better allows for navigation. i also expect the resulting maps will be much smaller in filesize - the RGB-D SLAM produced maps are often several GB large.

Here's the video: