In recent years, with the increase in physical distribution volume, unmanned transportation robots are expected as an alternative means of transporting baggage in factories and warehouses. Development of a control system for cooperative transportation by multiple robots is important when the objects to be conveyed are long and exceed the size and the weight limit. We developed the control system for cooperative transportation using two robots independently driven by two wheels. In this paper, we implemented the cooperative transportation system with two mobile robots using ROS and conducted some experiments to draw a square with 1 m side by the center of the conveyed object.