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During the last decades the industrial revolution has changed the backbone of the factories. The industry’s transformation started from the outbreak of the first industrial phase where the manufacturing automation procedures took over, to the today’s fourth industrial phase where the use of Information and Communication Technologies, the Internet of Things and Robotic Technologies are paving the way to the factories of the future. Automated Guided Vehicles are used to increase the production rate and improve the Health Safety and Environmental conditions. This paper consists of two distinct parts. The first part could be used as a guide that offers extensive analysis on the communication between the Robot Operating System and the Arduino microcontroller. The second part is the implementation of a prototype that could be used in a real world application which allows the vehicle to follow a predefined path and take real time decisions.