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Here is a repo that I used to quickly ROSify a ~15 US$ diff drive platform: https://github.com/skohlbr/simple_2wd_robot

I used this with a Raspberry Pi2 that connected to a Arduino clone with a cheap Adafruit motor shield clone. Probably about the cheapest ROS robot possible :) There is no extensive documentation, but things are not too complex either, so it might be helpful as is.

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