An Autonomously Navigating Robot is a complex system altogether. It needs the right set of knowledge in the domain of Electronics, Mechanical, Probabilistic Mathematics and Probabilistic Programming. All of this must run in sync with each other in a very complex way and thus ROS framework is a means of reducing the complexity of the task at hand.The primary basis of the creation of the Robot is to not only understand and work on ROS but to also have a mathematical basis on how the Autonomous Navigation works. With the use of SLAM, we created a mathematical basis of how pose estimation works and how is the system amalgamated using Bayesian Filters. With the right set of packages and by programming the odometry and encoder node we created the navigation stack. And finally we interfaced a set of hardware’s with the packages created previously worked towards the final goal of Autonomous Mobile Navigating Robot