The extravehicular work, such as space station maintenance and outer-space exploration, is still very dangerous for the astronauts due to the adverse circumstance. Therefore, a mobile robot is developed and its function of positioning and mapping is also realized in ROS. The virtual prototype of robot is established by following the URDF patterns, and the control technology of robot main body and sensor system is programmed by visual C++, and map for the potential automatic navigation is then built by the Gmapping SLAM. This paper provides some useful references for robot autonomous navigation, obstacle avoidance and manipulator arrangement.