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MARS navigation is built on Nav2 plus MARS-specific wrappers.

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What to know

  • /cmd_vel drives base motion
  • /odom and /scan are core for localization and obstacle avoidance
  • App navigation modes map to ROS2-level behavior mode changes

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Validate navigation signals

ros2 topic echo /odom
ros2 topic echo /scan
For mode behavior from the app side, see Capabilities.