UMARV Maverick 2025-2026

Maverick is UMARV's autonomous ground robot for the 2025-2026 competition season. This repository contains its ROS2 code: hardware drivers, computer vision, localization, navigation, and simulation, launched through a single set of entry points with interchangeable real and simulated sensors.

Quick Start

Environment Setup

If it's your first time working with ARV, set up the environment.

Starting the Robot

Build the workspace:

just build

Run the stack, each command in its own terminal. simulation:=true runs without hardware:

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>]

See bringup/README.md for what each mode does and how courses are configured.

Visualization

ros2 launch bringup visualization.launch.py

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

Alternatively, run RViz in a new terminal with the shared stack configuration:

just rviz

See bringup/README.md for which displays are enabled by default. If RViz asks to save the config on exit, decline - saving rewrites the shared config in RViz's verbose format. Keep personal tweaks in your own copy via File > Save Config As.

WSL: set Windows display scaling to a whole-number percentage (e.g. 100%, 200%). Fractional scaling (e.g. 125%, 150%) isn't supported by WSLg and silently falls back to 100%, leaving rviz2's UI illegibly tiny. TODO: See microsoft/wslg#23.

Tmux

A tmux configuration is included to avoid needing to create too many terminals.

just tmux

To exit, close the window by pressing the prefix key (Ctrl + B) and then & (Shift + 7), and then confirming by typing y and pressing Enter. A convenient cheatsheet for other tmux usage can be found at tmuxcheatsheet.com.

Documentation

• docs/DEVELOPMENT.md - Environment setup, build/test/lint loop, repo structure, dependency, code, and documentation conventions
• docs/CONTRIBUTING.md - Branches, pull requests, reviews, and CI
• docs/PLAYBOOK.md - Operating the robot on test and competition days
• src/bringup/README.md - System architecture: launch files, modes, and the stack-wide topic wiring
• Every package documents its own interface and behavior in its README