I am currently engaged in a project involving the use of the Robotic Operating System (ROS) and its various libraries to build a search and rescue Robot. I have to interface it with the Raspberry pi 2. The first querry that comes to mind is which OS to use on the Raspberry Pi 2. Raspbian OS aswell as linux can be uploaded on the arm based processor of the raspberry pi 2. Linux is more stable but Raspbian offers more compatibility according to some tutorials online. Help in this matter would be much appreciated.
Secondly the robot has to be made capable of simultaneous localization and mapping, i require help in making the urdf file for this custom robot to interface my hardware with the packages of SLAM available.