UMARV Maverick 2025-2026

src/ Layout

Category	Contents
bringup	Launch files, mode/course configs, and the top-level entry points for running the stack
core	Shared messages and library code used across packages
description	URDFs and robot/world description packages
hardware	Drivers for onboard hardware
localization	Odometry and coordinate-frame conversion packages
navigation	Path planning, path tracking, mission control, and recovery behavior packages
simulation	Simulated sensors and environment for testing without hardware
visualization	Visualization packages
template	Package skeletons copied by just create-pkg

Setup

First run the host bootstrap if you haven't. Then:

./scripts/setup_environment.py

VSCode: Install recommended extensions in this repo (it should automatically prompt you).

Commands

# See available commands
just

Running the Stack

# Build the workspace
just build

# Build a single package including dependencies
just build-pkg <package>

Run each of these commands in separate terminals:

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

ros2 launch bringup teleop.launch.py controller:=<xbox/xbox_wireless/ps4/ps4_wireless>

and / or

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

Mode and Course Configuration

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

Visualization

Run in a separate terminal:

ros2 launch 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.

Testing

# Run all tests
just test

# Run tests for a single package
just test-pkg <package>

Formatting & Linting

# Check formatting and lint
just lint

# Auto-fix formatting
just format

Adding a New Package

just create-pkg <dir> <pkg> [--type python|cpp]

Copies template_python or template_cpp into <dir>/<pkg>.