We first see R2 aboard Queen Amidala's ship which is where he and several other droids are kept just incase the ship needs maintenance work. This suggests that the Naboo royal fleet was his first home/owner. Next, Padme and Anakin took the droid for themselves after Episode I. Then, after Anakin turned to the darkside, he became the property of Capt. Antilles aboard the Tantive IV. Princess Leia then gives him a message which he is suppose to give to Obi-Wan Kenobi. After landing on Tatooine where Obi-Wan lives, he became the property of Luke Skywalker and still is according to the most recent books.
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Sounds like you're referring to Captain Rex from the TV series "Star Wars: The Clone Wars"
Darth Maul .
Jabba the Hutt .
droidekas. they are also known as destroyers.