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In order to solve the problem of low efficiency of manual weeding, a ros-based weeding robot system for greenhouse was designed. Using Nvidia Jetson Xavier NX and STM32 as the master controller and slave controller respectively. The laser radar, depth camera and three-axis gyroscope/acceleration sensor were installed in the front, middle of the top and middle of the bottom of the weeding robot respectively to obtain the information around the robot’s traveling path and the robot’s post information. Then analyze, process, 3D map and navigate the robot. The master controller and slave controller work together to interact commands and data through serial communication. The slave controller controls the movement of weeding robot and the movement of mechanical arm through PID control algorithm to spray and weed. The experimental results show that under normal light environment, the robot can spray weed at a speed of 0.3m/s, and the weeding effect is good, and the system runs stably.