ROS-IOT, as a new scheme of the Internet of Things system based on ROS and OpenWrt and Contiki, is put forward. It is divided into two parts:the construction of the system of the Internet of Things and the design of data acquisition robot under this system. In the perceptive layer, the sensor node uses Contiki protocol stack to realize the networking and data transmission of sensor nodes. In the access layer, access gateway adopts wireless routers running OpenWrt operating system, connection module of gateway realizes the dynamic transformation of the protocol, and it sets the functions of conversion address pool, data aggregation, and processing and forwarding to ROS network based on rosserial_embeddedLinux, which realizes the data circulation of each layer. In the application layer, a web service that interacts with ROS network data based on websocket technology is designed to achieve two-way interaction with the perception layer and the robot. The motor-driver board of the robot adopts STM32 singlechip, and the robot uses raspberry pi that running ROS environment as main control device. The software design of the robot adopts the communication mechanism based on ROS Topic and ROS_bridge to achieve the purpose of the robot are more easily integrated into the system of the Internet of Things,which is the base of expanding more services.