We Built the Husky ground-robot system with a Velodyne-16 Lidar sensor, Xsens-IMU, a 2nd 2D lidar, an RGB RealSense camera, and most importantly, on-board computing hardware with modern GPU; We then configured the ROS system with AMCL, Gmapping, Dijkstra* and DWA for 2D-lidar SLAM and path planning, navigation while avoiding dynamic obstacles, this achieves a foundation for advanced research such as reinforcement learning, more accurate pedestrian detection, etc. Besides, we managed to run a 3D lidar-based SLAM algorithm in real-time.