Bare Minimum Hardware Requirements for making a carter like bot.


I am planning to make a carter like bot to be driven outside my house. I have a jetson NANO and I want to build it on top of the bare minimum hardware peripherals.
What are the things that are must make it run?
Camera, Lidar and IMU.

For camera can we use off the shelf camera and for Lidar will RPILidar work or should I go for the YD lidar as mentioned in the component list?

Thanks in advance.