I am planning to use RoboClaw 2*7A Motor Controller. The original tests showed it has power enough to move Eddie.
I will connect RoboClaw straight to Jetson Nano Development Board by USB. RoboClaw and ROS can work and designed together, I have briefly tested it,
https://github.com/sonyccd/roboclaw_ros
There were a couple of other ROS interface software.
I got some headache to find feasible encoder that works with Roboclaw. I solved the problem using only opto-interrupters without processor of Parallax Position Controller Kit.