Robotics Weekends #2 - CbBot. Experimental ROS robot platform with SLAM and Gmapping

Robotics Weekends Episode 2 - CbBot 3.0 experimental UGV
The main idea of CbBot was to build experimental robot platform for ROS and robotics research.
Hardware used:
cutting board - it was first thing I saw which had suitable size)));
70:1 Metal Gearmotor 37Dx70L mm with 64 CPR Encoder + Dagu Wild Thumper 120x60 mm;
L298N drivers;
Teensy 3.2 (with firmware based on Linorobot);
MPU-9150 gyro+accel+magnetometer;
Zotac ZBOX-BI323-E + 4GB RAM + 160 GB SSD - for mapping, image processing, web interface, etc....;
neato lidar;
asus xtion pro + web camera;
Li-Pol Redox 6000mAh 30C 3S 11,1V + printed case - for 4-5 hours of work

I had to update Linorobot teensy firmware to use MPU-9150 and a little changes to work with 2 motor drivers for 4 motors. Also moved to navigation with DWA planner - looks like it is more robust.

But still there is a lot of work to do:
firmware improvement;
check battery level status from Teensy;
attach to CbBot my second project - smart gimbal camera with image processing and object recognition/tracking;
develop 3d printed body elements;
add robot lights control;
add ultrasonic bumpers;
GPS support, CAN bus support;
develop nice Web interface, android app...
and many other great ideas!

But all these ideas I'll implement in CbBot 4.0