UMARV Navigation Stack 2025-2026

Warning: Intellisense

Always build with --symlink-install. Without it, control-clicking a dependency in VSCode will take you to a copy instead of the source file, and data files (launch files, config, course JSON) written to the install directory will not reflect back to the source tree. For example:

colcon build --symlink-install
source install/setup.bash

Dependencies

You can install all dependencies by running

./scripts/setup.sh

Running the stack

Run each of these commands in separate terminals:

ros2 launch nav_bringup base.launch.py mode:=<mode> [simulation:=true] [course:=<course>]

ros2 launch nav_bringup teleop.launch.py controller:=<ps4/xbox>

and / or

ros2 launch nav_bringup navigation.launch.py mode:=<mode> [course:=<course>]

Mode and Course Configuration

See nav_bringup/README.md for mode and course configuration details.

Visualization

Run in a separate terminal:

ros2 launch nav_bringup visualization.launch.py

This sends robot data to Foxglove. Then open Foxglove Studio and connect to ws://localhost:8765.

Alternatively, run rviz2 in a new terminal and add the topics you want to visualize.