Currently, commercially available intelligent transport robots that are capable of carrying up to 90kg of load can cost \$5,000 or even more. This makes real-world experimentation prohibitively expensive and limits the applicability of such systems to everyday home or industrial tasks. Aside from their high cost, the majority of commercially available platforms are either closed-source, platform-specific or use difficult-to-customize hardware and firmware. In this work, we present a low-cost, open-source and modular alternative, referred to herein as "ROS-based Open-source Mobile Robot ($ROMR$)". $ROMR$ utilizes off-the-shelf (OTS) components, additive manufacturing technologies, aluminium profiles, and a consumer hoverboard with high-torque brushless direct current (BLDC) motors. $ROMR$ is fully compatible with the robot operating system (ROS), has a maximum payload of 90kg, and costs less than \$1500. Furthermore, ROMR offers a simple yet robust framework for contextualizing simultaneous localization and mapping (SLAM) algorithms, an essential prerequisite for autonomous robot navigation. The robustness and performance of the $ROMR$ were validated through real-world and simulation experiments. All the design, construction and software files are freely available online under the GNU GPL v3 licence at https://doi.org/10.17605/OSF.IO/K83X7. A descriptive video of $ROMR$ can be found at https://osf.io/ku8ag.

翻译：当前，市面上能够承载90公斤负载的智能运输机器人售价通常高达5000美元甚至更高。这使得真实场景实验的成本高不可攀，限制了此类系统在日常生活或工业任务中的实际应用。除了高昂的成本，大多数商业平台要么闭源，要么具有平台特异性，要么使用难以定制的硬件和固件。本文提出一种低成本、开源且模块化的替代方案，即"基于ROS的开源移动机器人（ROMR）"。ROMR采用现成组件、增材制造技术、铝型材以及配备高扭矩无刷直流电机的消费级平衡车。该机器人完全兼容机器人操作系统（ROS），最大负载达90公斤，成本低于1500美元。此外，ROMR提供简洁而稳健的框架，用于实现同步定位与建图算法——这是自主机器人导航的关键前提。通过真实场景与仿真实验验证了ROMR的鲁棒性与性能。所有设计、构建及软件文件均以GNU GPL v3许可证在https://doi.org/10.17605/OSF.IO/K83X7上免费开源发布。ROMR的演示视频见https://osf.io/ku8ag。