BusBot is a senior design project that uses ROS (Robot Operating System) to map its environment using a lidar sensor and depth camera to assist restaurant workers. BusBot is an autonomous robot that will allow customers to summon the robot to their tables to place dirty dishes in the receptacle to be taken back to the dishwasher. The robot can also be used to bring beverages and utensils to the tables. It is also equipped with a loadsensor to determine how much weight the robot is holding and will cease to take anymore weight until it is emptied. All path planning is equiped with obstacle avoidance as to avoid hitting objects and trippping staff/customers. Customer's will be able to control the robot using a WebApp created using HTML, JavaScript, and ROS functionality on a table or smartphone.