Thanks for the response. Actually, there's no controller embedded in the rhino scara robot, so i will design a controller for it and then integrate it to ROS. I want to ask you the best microcontroller that i can use to support 5 motors and 5 decoders. I' m looking at arduino, raspberry pi and single PC. Please can you advise me on the best one to go with in designing the controller for the robot before integrating it to ROS. I appreciate you input.