Custom 2S 6.6Ah Li-polymer Battery Pack.
2 wheel differential drive with caster and quadrature encoders (Trossen Budget Bot Chassis).
Arduino Mega 2560 with Pololu Motor Controler and Robogaia 2 axis shields.
http://www.ros.org/wiki/ros_arduino_bridge
I will also be providing a link to the ROSberryPiBot SD card image once I figure out where I want to host it.
Todo - Webcam, Ping sensor, IR
todo - add a upper plate and dynamixel based arm and gripper.