UMARV Maverick 2025-2026

Dependencies

You can install all dependencies by running

./scripts/setup_environment.py

Running the stack

To build the stack, run

just build

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.