i used raspberry pi 2 in order to build 2d mapping robot(i installed ROS on top of ubuntu on pi2). i also tried to make it autonomus but lack of some hardware s

i used raspberry pi 2 in order to build 2d mapping robot(i installed ROS on top of ubuntu on pi2). i also tried to make it autonomus but lack of some hardware such as motor encoder made it quite hard to accomplish so i did not go for it. See snippets of video diary at https://robot.birkankolcu.com https://robot.birkankolcu.com