This work details the complete development cycle of a functional autonomous rover prototyping platform designed to validate space mission operations and flight software. The research focuses on the integration of a commercial off-theshelf mobile base with a high-level software architecture built on the ROS2 and Navigation2 frameworks, enabling the system to perform essential autonomous tasks such as Simultaneous Localization and Mapping (SLAM), reactive path planning, and dynamic obstacle avoidance . A critical component of the work involved the creation of a high-fidelity simulation environment in Gazebo, which allowed the validation of the navigation logic and sensor configuration. After the implementation and interconnection of those systems, the rover was capable of successfully navigating in simulated lunar terrain, while generating 3D maps and dynamically avoiding obstacles and dangerous areas..