Before continuing the modeling of the body for the robot mower I made a chassis concept that could drive around. So I can test some hardware before mowing on. Also because I just starting to learn a bit ROS and wanted to be acquainted with this before I move on.
So the in this test I was able to control my motors with a PS4 controller over bluetooth, steering worked fine. The Speed was a bit slow because of the small wheels (125mm). In my new design I will use around 230mm wheels. I Also played around a bit with the lidar and 3D-camera.