I recently open-sourced a hardware/software design for a RealSense-enabled Simple Autonomous Wheeled Robot that can do autonomous navigation (SLAM) with ROS Kinetic. The build instructions currently are only for the UP Board/R200 combo in the Intel Robotic Development Kit (RDK) but it can also be built with a Joule/ZR300 combination - the laser-cut frame includes all the mounting points for either, or even a Joule/R200 combo. See images below. The software setup is pretty basic for now, as I wanted to keep the initial release relatively simple, but I'm working on various enhancements. However, it does run ROS and can do map-building with gmapper and autonomous navigation with move-base. It's also possible to run the RealSense object and person detection libraries on it.
The UP Board/R200 (RDK) version:
The Joule/ZR300 version: