This book tells you how to build an autonomous mobile serving robot from scratch, with which you can serve food in an apartment, hotel and restaurant. Thanks to detailed step-by-step instructions, the reader will learn the entire process of developing a robot - from the theoretical part (principles of differential drive, kinematics and inverse kinematics) to practical implementation (assembling individual components, matching actuators and sensors with controllers). Much attention is paid to the software part - the use of the ROS meta-operating system, modeling in Gazebo, image processing in OpenCV, development of a robot GUI in Qt and Python. The publication is intended for a wide range of readers who are passionate about robotics, programming and self-assembly of various DIY devices.