In this paper, we describe the development of a ROS-based mobile robot system and experimental results for indoor autonomous driving. The developed mobile robot system is modularized, so that ROS can be used for perception, decisions, planning and control. The platform used in this study is a differential wheeled robot, which consists of sensors for indoor mapping and localization and motor drivers for control. To verify the feasibility of the developed mobile robot system, we performed indoor autonomous driving experiments. It is found that the mobile robot can autonomously reach its destination without experiencing any collisions while localizing itself in indoor environment, recognizing obstacles, planning local paths for obstacle avoidance.