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You system consist only of Actors the are no sensors, you need et least one like

• Kinect (is a raspberry pi fast enough to make a Deph to Laser Scan Conversion)
• Lidar
  • Sick Tim( Expensiv)
  • RP-LIDAR , ProtoX2D (Cheap)
  • Hokuyo (Expensiv)

Or you try a Monoslam with the Rasberry Pi Camera

Some Motor Encoder are nice to have for drive speed control

You system consist only of Actors How Big should the are no sensors, you need et least one like

• Kinect (is a raspberry pi fast enough to make a Deph to Laser Scan Conversion)
• Lidar
  • Sick Tim( Expensiv)
  • RP-LIDAR , ProtoX2D (Cheap)
  • Hokuyo (Expensiv)

Or you try a Monoslam with the Rasberry Pi Camerarobot be?

Some Motor Encoder are nice to have for drive speed control You neede some Reductiongear and some Wheels.

How Big should the robot be?

You neede some Reductiongear and some Wheels.

The easyst is an Differentail Drive. https://www.robotix.in/tutorial/mechanical/drivemechtut/ easy to Control.

What is the Purpose for the robot? Cleaning, bring drinks, Security? What kind of Enviroment you have? glass door, stairs, carpet, gaps?

How Big To parts are still missing: Battery plus some voltage converters. You can use a USB-Powerbank für die 5V supply (Raspberry Pi2, Motor Voltage). And solder a small 5V To 3.3V LDO for the Motor Controller VCC and the IMU (it is not recommended to use the Raspberrys 3.3V output for externel use). You need the 3.3V because the I/O system of the Pi work with 3.3V.

Now you can Connect the IMU to the SPI Pins of the PI, if you IMU breakeout board only have I2C so you have to connect to the I2C bus of you PI.

now you connect the motors driver enable pins to the soft PWM Pins of the Pi. The Dir pin to other pi ins. wire the motor pins with the motor and you finished wire up.

then you sandwich the pi between the MoveBase and the Laser Sensor, put the camera in front and you are done with hardware.

an recommended Extension is to add motor encoders and an arduino (3.3V) or µC(3.3V). then you should the robot be?

You neede some Reductiongear and some Wheels.

The easyst is an Differentail Drive. https://www.robotix.in/tutorial/mechanical/drivemechtut/ easy to Control.

What is the Purpose for the robot? Cleaning, bring drinks, Security? What kind of Enviroment you have? glass door, stairs, carpet, gaps?

The other thing I recommend is to use connect the encoders and the motor driver to the arduino and the #arduino to the pi. An Arduino have a faster IO system so you can have a faster motor control loop, an Arduino to is more deterministic then the PI, so you control the motors, the gpio speed of the Raspberry Pi is slow, and I thing to slow to read quadrature encoders. If you plan to use some. An other nice thing is an IMU