I already have the core hardware—a Raspberry Pi 5 (8 GB), RPLIDAR, ODrive dual-motor controller, and two BLDC e-bike hub wheels—and I want to turn this kit into a working indoor robot that can carry food and drinks from a kitchen to preset drop-off points while dodging people, chairs, and other obstacles in real time. Here’s what I need from you: • A functional prototype plan that shows how to mount every component securely on a compact chassis, including battery placement and cable management. • A complete wiring and power-distribution diagram linking the Raspberry Pi, ODrive, wheels, lidar, and safety switches. • Well-commented control software (Python or C++ preferred, ROS 2 welcome) that: – streams lidar data for a dynamic cost map, – performs real-time obstacle avoidance, – translates way-points into differential-drive commands through the ODrive, and – offers a simple touchscreen or web UI to choose destinations. • Tuning instructions for wheel PID, odometry calibration, and basic failsafes (e-stop, low-battery cutoff). • A short demo video or log proving an untethered indoor run of at least 20 m with one 90° turn and an obstacle bypass. I will assemble the hardware on my side; you provide the designs, code, and remote troubleshooting until the acceptance demo passes. If you have past experience with ODrive, ROS, or similar indoor delivery bots, please mention it along with a realistic timeline for completion.