diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index af270ac..8161242 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -47,14 +47,16 @@ jobs:
           ament_flake8 --config ament_flake8.ini \
             movensys_navigation_description/launch \
             movensys_navigation_nav2_config/launch \
-            movensys_navigation_nav2_config/movensys_navigation_nav2_config
+            movensys_navigation_nav2_config/movensys_navigation_nav2_config \
+            movensys_navigation_perception/launch
 
       - name: ament_xmllint (package.xml)
         run: |
           source /opt/ros/${{ matrix.ros_distro }}/setup.bash
           ament_xmllint \
             movensys_navigation_description/package.xml \
-            movensys_navigation_nav2_config/package.xml
+            movensys_navigation_nav2_config/package.xml \
+            movensys_navigation_perception/package.xml
 
       - name: cppcheck (warnings only, never fails)
         run: |
diff --git a/.github/workflows/movensys-navigation.yml b/.github/workflows/movensys-navigation.yml
index 83624ea..6295bfd 100644
--- a/.github/workflows/movensys-navigation.yml
+++ b/.github/workflows/movensys-navigation.yml
@@ -25,8 +25,6 @@ jobs:
 
       - name: Setup ROS ${{ matrix.ros_distro }}
         uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ matrix.ros_distro }}
 
       - name: Setup workspace
         run: |
@@ -36,14 +34,20 @@ jobs:
       - name: Install dependencies
         run: |
           sudo apt-get update
+          sudo apt-get install -y --no-install-recommends \
+            ros-${{ matrix.ros_distro }}-ros-base
           # GH ubuntu-22.04 runners pin LLVM's libunwind, blocking the stock
           # libunwind-dev that libgoogle-glog-dev (via slam-toolbox) needs.
           sudo apt-get install -y libunwind-dev
           sudo rosdep init || true
           rosdep update
           cd ~/movensys_ws
+          # This job only compiles (BUILD_TESTING=OFF), so runtime deps such as
+          # navigation2, ros_gz_sim and rviz2 are not needed.
           rosdep install --from-paths src --ignore-src -y \
-            --rosdistro ${{ matrix.ros_distro }}
+            --rosdistro ${{ matrix.ros_distro }} \
+            -t buildtool -t build -t buildtool_export -t build_export \
+            --skip-keys isaac_ros_visual_slam
 
       - name: Build
         run: |
diff --git a/.github/workflows/test-nav2.yml b/.github/workflows/test-nav2.yml
index e427429..4f3c4e3 100644
--- a/.github/workflows/test-nav2.yml
+++ b/.github/workflows/test-nav2.yml
@@ -27,8 +27,6 @@ jobs:
 
       - name: Setup ROS ${{ matrix.ros_distro }}
         uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ matrix.ros_distro }}
 
       - name: Setup workspace
         run: |
@@ -38,6 +36,8 @@ jobs:
       - name: Install dependencies
         run: |
           sudo apt-get update
+          sudo apt-get install -y --no-install-recommends \
+            ros-${{ matrix.ros_distro }}-ros-base
           # GH ubuntu-22.04 runners pin LLVM's libunwind, blocking the stock
           # libunwind-dev that libgoogle-glog-dev (via slam-toolbox) needs.
           sudo apt-get install -y libunwind-dev
@@ -45,7 +45,9 @@ jobs:
           rosdep update
           cd ~/movensys_ws
           rosdep install --from-paths src --ignore-src -y \
-            --rosdistro ${{ matrix.ros_distro }}
+            --rosdistro ${{ matrix.ros_distro }} \
+            -t buildtool -t build -t buildtool_export -t build_export -t test \
+            --skip-keys isaac_ros_visual_slam
 
       - name: Build
         run: |
diff --git a/.github/workflows/test-perception.yml b/.github/workflows/test-perception.yml
index 286848a..057d2b2 100644
--- a/.github/workflows/test-perception.yml
+++ b/.github/workflows/test-perception.yml
@@ -25,8 +25,6 @@ jobs:
 
       - name: Setup ROS ${{ matrix.ros_distro }}
         uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ matrix.ros_distro }}
 
       - name: Setup workspace
         run: |
@@ -36,6 +34,8 @@ jobs:
       - name: Install dependencies
         run: |
           sudo apt-get update
+          sudo apt-get install -y --no-install-recommends \
+            ros-${{ matrix.ros_distro }}-ros-base
           # GH ubuntu-22.04 runners pin LLVM's libunwind, blocking the stock
           # libunwind-dev that libgoogle-glog-dev (via slam-toolbox) needs.
           sudo apt-get install -y libunwind-dev
@@ -43,7 +43,9 @@ jobs:
           rosdep update
           cd ~/movensys_ws
           rosdep install --from-paths src/movensys-navigation/movensys_navigation_perception \
-            --ignore-src -y --rosdistro ${{ matrix.ros_distro }}
+            --ignore-src -y --rosdistro ${{ matrix.ros_distro }} \
+            -t buildtool -t build -t buildtool_export -t build_export -t test \
+            --skip-keys isaac_ros_visual_slam
 
       - name: Build
         run: |
diff --git a/.github/workflows/unit-test.yml b/.github/workflows/unit-test.yml
index 60008f7..d6cb79b 100644
--- a/.github/workflows/unit-test.yml
+++ b/.github/workflows/unit-test.yml
@@ -45,7 +45,9 @@ jobs:
           rosdep update
           cd ~/movensys_ws
           rosdep install --from-paths src --ignore-src -y \
-            --rosdistro ${{ matrix.ros_distro }}
+            --rosdistro ${{ matrix.ros_distro }} \
+            -t buildtool -t build -t buildtool_export -t build_export -t test \
+            --skip-keys isaac_ros_visual_slam
 
       - name: colcon build
         run: |
@@ -54,6 +56,7 @@ jobs:
           colcon build --symlink-install \
             --packages-select \
               movensys_navigation_description \
+              movensys_navigation_perception \
               movensys_navigation_nav2_config
 
       - name: colcon test
@@ -63,6 +66,7 @@ jobs:
           source install/setup.bash
           colcon test --packages-select \
               movensys_navigation_description \
+              movensys_navigation_perception \
               movensys_navigation_nav2_config \
             --event-handlers console_cohesion+
           colcon test-result --verbose
diff --git a/doc/3a_manual_simulation.md b/doc/3a_manual_simulation.md
index daa97f1..855c382 100644
--- a/doc/3a_manual_simulation.md
+++ b/doc/3a_manual_simulation.md
@@ -25,9 +25,9 @@ nros ros2 launch movensys_navigation_nav2_config sim_bridge.launch.py use_sim_ti
 
 ### Step 3: Run EKF + RSP
 ```
-nros ros2 launch movensys_navigation_nav2_config base.launch.py use_sim_time:=true
+nros ros2 launch movensys_navigation_nav2_config base.launch.py use_sim_time:=true 
 ```
-add `rsp:=false` if use gazebo (step 1b).
+add `rsp:=false` if use gazebo (step 1b) and add `use_cuvslam:=true` for use cuvslam.
 
 
 
diff --git a/doc/3b_manual_hil.md b/doc/3b_manual_hil.md
index 96a3083..1a333ae 100644
--- a/doc/3b_manual_hil.md
+++ b/doc/3b_manual_hil.md
@@ -23,7 +23,7 @@ set `use_sim_time:=true`
 ```
 nros ros2 launch movensys_navigation_nav2_config base.launch.py use_sim_time:=true 
 ```
-add `rsp:=false` if use gazebo (step 1b) or ros2_control.
+add `rsp:=false` if use gazebo (step 1b) or ros2_control add `use_cuvslam:=true` for use cuvslam.
 
 
 
diff --git a/doc/3c_manual_real.md b/doc/3c_manual_real.md
index 7a13c66..2a3fa83 100644
--- a/doc/3c_manual_real.md
+++ b/doc/3c_manual_real.md
@@ -12,7 +12,7 @@ check `~/workspaces/movensys_ws/src/wmx-r2/doc/launch_<NAVIGATION_MODEL>_navigat
 ```
 nros ros2 launch movensys_navigation_nav2_config base.launch.py
 ```
-add `rsp:=false` if use ros2_control.
+add `rsp:=false` if use ros2_control add `use_cuvslam:=true` for use cuvslam.
 
 
 
diff --git a/doc/4a_mapping_simulation.md b/doc/4a_mapping_simulation.md
index 744a44f..53fbd94 100644
--- a/doc/4a_mapping_simulation.md
+++ b/doc/4a_mapping_simulation.md
@@ -25,9 +25,9 @@ nros ros2 launch movensys_navigation_nav2_config sim_bridge.launch.py use_sim_ti
 
 ### Step 3: Mapping
 ```
-nros ros2 launch movensys_navigation_nav2_config mapping.launch.py use_sim_time:=true
+nros ros2 launch movensys_navigation_nav2_config mapping.launch.py use_sim_time:=true 
 ```
-add `rsp:=false` if use gazebo (step 1b)
+add `rsp:=false` if use gazebo (step 1b) add `use_cuvslam:=true` for use cuvslam
 
 
 
diff --git a/doc/4b_mapping_hil.md b/doc/4b_mapping_hil.md
index 28b146d..1dc0880 100644
--- a/doc/4b_mapping_hil.md
+++ b/doc/4b_mapping_hil.md
@@ -25,7 +25,7 @@ set `use_sim_time:=true`
 ```
 nros ros2 launch movensys_navigation_nav2_config mapping.launch.py use_sim_time:=true
 ```
-add `rsp:=false` if use gazebo (step 1b) or ros2_control.
+add `rsp:=false` if use gazebo (step 1b) or ros2_control add `use_cuvslam:=true` for use cuvslam.
 
 
 
diff --git a/doc/4c_mapping_real.md b/doc/4c_mapping_real.md
index 8d60d10..bc42462 100644
--- a/doc/4c_mapping_real.md
+++ b/doc/4c_mapping_real.md
@@ -17,7 +17,7 @@ check `~/workspaces/movensys_ws/src/wmx-r2/doc/launch_<NAVIGATION_MODEL>_navigat
 ```
 nros ros2 launch movensys_navigation_nav2_config mapping.launch.py
 ```
-add `rsp:=false` if use ros2_control.
+add `rsp:=false` if use ros2_control add `use_cuvslam:=true` for use cuvslam.
 
 
 
diff --git a/doc/5a_navigation_simulation.md b/doc/5a_navigation_simulation.md
index 3280992..93a4794 100644
--- a/doc/5a_navigation_simulation.md
+++ b/doc/5a_navigation_simulation.md
@@ -26,7 +26,7 @@ nros ros2 launch movensys_navigation_nav2_config sim_bridge.launch.py use_sim_ti
 ```
 nros ros2 launch movensys_navigation_nav2_config navigation.launch.py use_sim_time:=true
 ```
-add `rsp:=false` if use gazebo (step 1b).
+add `rsp:=false` if use gazebo (step 1b) add `use_cuvslam:=true` for use cuvslam.
 
 
 
diff --git a/doc/5b_navigation_hil.md b/doc/5b_navigation_hil.md
index 068b895..5f5ec12 100644
--- a/doc/5b_navigation_hil.md
+++ b/doc/5b_navigation_hil.md
@@ -21,7 +21,7 @@ set `use_sim_time:=true`
 ```
 nros ros2 launch movensys_navigation_nav2_config navigation.launch.py use_sim_time:=true
 ```
-add `rsp:=false` if use gazebo (step 1b) or ros2_control.
+add `rsp:=false` if use gazebo (step 1b) or ros2_control add `use_cuvslam:=true` for use cuvslam.
 
 
 
diff --git a/doc/5c_navigation_real.md b/doc/5c_navigation_real.md
index 62938c3..176803c 100644
--- a/doc/5c_navigation_real.md
+++ b/doc/5c_navigation_real.md
@@ -12,7 +12,7 @@ check `~/workspaces/movensys_ws/src/wmx-r2/doc/launch_<NAVIGATION_MODEL>_navigat
 ```
 nros ros2 launch movensys_navigation_nav2_config navigation.launch.py
 ```
-add `rsp:=false` if use ros2_control.
+add `rsp:=false` if use ros2_control add `use_cuvslam:=true` for use cuvslam.
 
 
 ### Step 3: Set initial pose
diff --git a/docker/isaac-ros_3.2.Dockerfile b/docker/isaac-ros_3.2.Dockerfile
index 592fe49..0ee59c7 100644
--- a/docker/isaac-ros_3.2.Dockerfile
+++ b/docker/isaac-ros_3.2.Dockerfile
@@ -26,6 +26,7 @@ RUN apt-get update && \
         ros-humble-rmw-cyclonedds-cpp \
         ros-humble-tf-transformations \
         ros-humble-isaac-ros-nvblox \
+        ros-humble-isaac-ros-visual-slam \
         ros-humble-isaac-ros-examples \
         ros-humble-isaac-ros-realsense \
         ros-humble-isaac-ros-ess \
diff --git a/docker/isaac-ros_4.1.Dockerfile b/docker/isaac-ros_4.1.Dockerfile
index 9e81278..50b931d 100644
--- a/docker/isaac-ros_4.1.Dockerfile
+++ b/docker/isaac-ros_4.1.Dockerfile
@@ -36,6 +36,7 @@ RUN apt-get update && \
 RUN apt-get update && \
     apt-get install -y \
       ros-jazzy-isaac-ros-nvblox \
+      ros-jazzy-isaac-ros-visual-slam \
       ros-jazzy-robot-localization \
       ros-jazzy-slam-toolbox \
       ros-jazzy-navigation2 \
diff --git a/movensys_navigation_description/launch/gazebo_navigation_simulation.launch.py b/movensys_navigation_description/launch/gazebo_navigation_simulation.launch.py
index effea18..f2430ee 100644
--- a/movensys_navigation_description/launch/gazebo_navigation_simulation.launch.py
+++ b/movensys_navigation_description/launch/gazebo_navigation_simulation.launch.py
@@ -19,6 +19,9 @@ def generate_launch_description():
     clock_msg = {'humble': 'ignition.msgs.Clock', 'jazzy': 'gz.msgs.Clock'}[ros_distro]
     imu_msg = {'humble': 'ignition.msgs.IMU', 'jazzy': 'gz.msgs.IMU'}[ros_distro]
     lidar_msg = {'humble': 'ignition.msgs.LaserScan', 'jazzy': 'gz.msgs.LaserScan'}[ros_distro]
+    image_msg = {'humble': 'ignition.msgs.Image', 'jazzy': 'gz.msgs.Image'}[ros_distro]
+    camera_info_msg = {'humble': 'ignition.msgs.CameraInfo',
+                       'jazzy': 'gz.msgs.CameraInfo'}[ros_distro]
 
     world_file = {'humble': 'arena_ign.world', 'jazzy': 'arena_gz.world'}[ros_distro]
 
@@ -69,6 +72,14 @@ def generate_launch_description():
             f'/imu@sensor_msgs/msg/Imu[{imu_msg}',
             f'/lidar_front_left_scan@sensor_msgs/msg/LaserScan[{lidar_msg}',
             f'/lidar_rear_right_scan@sensor_msgs/msg/LaserScan[{lidar_msg}',
+            f'/image_front_infra1/rgb@sensor_msgs/msg/Image[{image_msg}',
+            f'/image_front_infra1/rgb/camera_info@sensor_msgs/msg/CameraInfo[{camera_info_msg}',
+            f'/image_front_infra2/rgb@sensor_msgs/msg/Image[{image_msg}',
+            f'/image_front_infra2/rgb/camera_info@sensor_msgs/msg/CameraInfo[{camera_info_msg}',
+        ],
+        remappings=[
+            ('/image_front_infra1/rgb/camera_info', '/image_front_infra1/camera_info'),
+            ('/image_front_infra2/rgb/camera_info', '/image_front_infra2/camera_info'),
         ],
         output='screen'
     )
diff --git a/movensys_navigation_description/urdf/diffbot/movensys_navigation.urdf b/movensys_navigation_description/urdf/diffbot/movensys_navigation.urdf
index 0989fe8..cfc5e3f 100644
--- a/movensys_navigation_description/urdf/diffbot/movensys_navigation.urdf
+++ b/movensys_navigation_description/urdf/diffbot/movensys_navigation.urdf
@@ -111,6 +111,50 @@
       </geometry>
     </visual>
   </link>
+  <joint name="camera_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="camera_front_link"/>
+    <origin rpy="0 0 0" xyz="0.4 0.0 0.17"/>
+  </joint>
+  <link name="camera_front_link">
+    <inertial>
+      <mass value="0.072"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.025 0.09 0.025"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.025 0.09 0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint name="camera_front_infra1_optical_joint" type="fixed">
+    <parent link="camera_front_link"/>
+    <child link="camera_front_infra1_optical_frame"/>
+    <origin rpy="-1.5707963 0 -1.5707963" xyz="0 0 0"/>
+  </joint>
+  
+  <link name="camera_front_infra1_optical_frame"/>
+
+  <joint name="camera_front_infra2_optical_joint" type="fixed">
+    <parent link="camera_front_link"/>
+    <child link="camera_front_infra2_optical_frame"/>
+    <origin rpy="-1.5707963 0 -1.5707963" xyz="0 -0.095 0"/>
+  </joint>
+  
+  <link name="camera_front_infra2_optical_frame"/>
+  
   <link name="base_link">
     <visual>
       <geometry>
diff --git a/movensys_navigation_description/urdf/diffbot/perception.gazebo b/movensys_navigation_description/urdf/diffbot/perception.gazebo
index e6c8637..09d2959 100644
--- a/movensys_navigation_description/urdf/diffbot/perception.gazebo
+++ b/movensys_navigation_description/urdf/diffbot/perception.gazebo
@@ -85,6 +85,51 @@
 		</sensor>
 	</gazebo>
 
+
+	<gazebo reference="camera_front_link">
+		<sensor name="camera_front_infra1_sensor" type="camera">
+			<pose>0 0 0 0 0 0</pose>
+			<always_on>true</always_on>
+			<visualize>false</visualize>
+			<update_rate>30</update_rate>
+			<topic>/image_front_infra1/rgb</topic>
+			<gz_frame_id>camera_front_infra1_optical_frame</gz_frame_id>
+			<camera>
+				<horizontal_fov>1.518</horizontal_fov>
+				<image>
+					<width>640</width>
+					<height>360</height>
+					<format>L8</format>
+				</image>
+				<clip>
+					<near>0.1</near>
+					<far>30.0</far>
+				</clip>
+			</camera>
+		</sensor>
+
+		<sensor name="camera_front_infra2_sensor" type="camera">
+			<pose>0 -0.095 0 0 0 0</pose>
+			<always_on>true</always_on>
+			<visualize>false</visualize>
+			<update_rate>30</update_rate>
+			<topic>/image_front_infra2/rgb</topic>
+			<gz_frame_id>camera_front_infra2_optical_frame</gz_frame_id>
+			<camera>
+				<horizontal_fov>1.518</horizontal_fov>
+				<image>
+					<width>640</width>
+					<height>360</height>
+					<format>L8</format>
+				</image>
+				<clip>
+					<near>0.1</near>
+					<far>30.0</far>
+				</clip>
+			</camera>
+		</sensor>
+	</gazebo>
+
 	<gazebo reference="drivewheel_left">
 		<collision>
 			<surface>
diff --git a/movensys_navigation_description/urdf/diffbot/perception.xacro b/movensys_navigation_description/urdf/diffbot/perception.xacro
index eee0933..d9a56df 100644
--- a/movensys_navigation_description/urdf/diffbot/perception.xacro
+++ b/movensys_navigation_description/urdf/diffbot/perception.xacro
@@ -134,4 +134,52 @@
         </visual>
     </link>
 
+    <joint name="camera_joint" type="fixed">
+        <parent link="base_link"/>
+        <child link="camera_front_link"/>
+        <origin rpy="0 0 0" xyz="0.4 0.0 0.17"/>
+    </joint>
+
+    <link name="camera_front_link">
+        <inertial>
+            <mass value="0.072"/>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+        </inertial>
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size="0.025 0.09 0.025"/>
+            </geometry>
+            <material name="">
+                <color rgba="0.1 0.1 0.1 1"/>
+            </material>
+        </visual>
+        <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <box size="0.025 0.09 0.025"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <xacro:arg name="urdf_camera_optical_tf" default="true"/>
+    <xacro:if value="$(arg urdf_camera_optical_tf)">
+        <joint name="camera_front_infra1_optical_joint" type="fixed">
+            <parent link="camera_front_link"/>
+            <child link="camera_front_infra1_optical_frame"/>
+            <origin xyz="0 0 0" rpy="-1.5707963 0 -1.5707963"/>
+        </joint>
+
+        <link name="camera_front_infra1_optical_frame"/>
+
+        <joint name="camera_front_infra2_optical_joint" type="fixed">
+            <parent link="camera_front_link"/>
+            <child link="camera_front_infra2_optical_frame"/>
+            <origin xyz="0 -0.095 0" rpy="-1.5707963 0 -1.5707963"/>
+        </joint>
+
+        <link name="camera_front_infra2_optical_frame"/>
+    </xacro:if>
+
 </robot>
diff --git a/movensys_navigation_nav2_config/config/diffbot/ekf_cuvslam.yaml b/movensys_navigation_nav2_config/config/diffbot/ekf_cuvslam.yaml
new file mode 100644
index 0000000..41a97c9
--- /dev/null
+++ b/movensys_navigation_nav2_config/config/diffbot/ekf_cuvslam.yaml
@@ -0,0 +1,118 @@
+### ekf config file (with cuVSLAM visual-inertial odometry fused in) ###
+# Same as ekf.yaml, plus odom1 = /visual_slam/tracking/odometry from Isaac ROS
+# Visual SLAM (cuVSLAM). Selected by base.launch.py when use_cuvslam:=true.
+#
+# Sources fused here:
+#   odom0 (/odom_enc)                     -> wheel encoder twist (vx, vyaw)
+#   odom1 (/visual_slam/tracking/odometry)-> visual-inertial odometry (x, y, yaw)
+#   imu0  (/imu)                          -> wheeltec N100 IMU yaw + yaw rate
+ekf_filter_node:
+    ros__parameters:
+        frequency: 50.0
+        sensor_timeout: 0.1
+        two_d_mode: true
+        transform_time_offset: 0.0
+        transform_timeout: 0.0
+        print_diagnostics: true
+        debug: false
+        debug_out_file: odometry_debug.txt
+        permit_corrected_publication: false
+        publish_acceleration: false
+        publish_tf: true
+        map_frame: map              # Defaults to "map" if unspecified
+        odom_frame: odom            # Defaults to "odom" if unspecified
+        base_link_frame: base_link  # Defaults to "base_link" if unspecified
+        world_frame: odom           # Defaults to the value of odom_frame if unspecified
+
+        #The order of the values is
+        #x, y, z,
+        #roll, pitch, yaw,
+        #vx, vy, vz,
+        #vroll, vpitch, vyaw,
+        #ax, ay, az.
+
+        odom0: /odom_enc
+        odom0_config: [false, false, false,
+                       false, false, false,
+                       true, true, false,
+                       false, false, true,
+                       false, false, false]
+        odom0_queue_size: 2
+        odom0_nodelay: false
+        odom0_differential: false
+        odom0_relative: false
+        odom0_pose_rejection_threshold: 50.0
+        odom0_twist_rejection_threshold: 10.0
+
+        # cuVSLAM visual-inertial odometry. Fused as a differential pose source so
+        # that its (drift-free over short horizons) relative motion complements the
+        # wheel encoder without fighting it over absolute position. two_d_mode keeps
+        # z/roll/pitch flat, so only x, y and yaw are pulled from it.
+        odom1: /visual_slam/tracking/odometry
+        odom1_config: [true,  true,  false,
+                       false, false, true,
+                       false, false, false,
+                       false, false, false,
+                       false, false, false]
+        odom1_queue_size: 10
+        odom1_nodelay: true
+        odom1_differential: true
+        odom1_relative: false
+        odom1_pose_rejection_threshold: 5.0
+        odom1_twist_rejection_threshold: 5.0
+
+        imu0: /imu
+        imu0_config: [false, false, false,
+                      false, false, true,
+                      false, false, false,
+                      false, false, true,
+                      false, false, false]
+        imu0_nodelay: false
+        imu0_differential: false
+        imu0_relative: true
+        imu0_queue_size: 5
+        imu0_pose_rejection_threshold: 1.57                 # Note the difference in parameter names
+        imu0_twist_rejection_threshold: 1.57                #
+        imu0_linear_acceleration_rejection_threshold: 5.0  #
+        imu0_remove_gravitational_acceleration: false
+
+        use_control: true
+        stamped_control: true
+        control_timeout: 0.2
+        control_config: [true, false, false, false, false, true]
+        acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
+        deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
+        acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
+        deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]
+
+        process_noise_covariance: [0.05, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.05, 0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.06, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.03, 0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.03, 0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.06, 0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.025, 0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.025, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.04, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.01, 0.0,    0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.01, 0.0,    0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.02, 0.0,    0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.01, 0.0,    0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.01, 0.0,
+                                   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.015]
+
+        initial_estimate_covariance: [1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9, 0.0,     0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    1e-9,  0.0,     0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     1e-9,  0.0,     0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     1e-9,  0.0,    0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     1e-9, 0.0,    0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    1e-9, 0.0,
+                                      0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,     0.0,    0.0,    1e-9]
diff --git a/movensys_navigation_nav2_config/launch/__pycache__/base.launch.cpython-312.pyc b/movensys_navigation_nav2_config/launch/__pycache__/base.launch.cpython-312.pyc
deleted file mode 100644
index f5d6c0f..0000000
Binary files a/movensys_navigation_nav2_config/launch/__pycache__/base.launch.cpython-312.pyc and /dev/null differ
diff --git a/movensys_navigation_nav2_config/launch/base.launch.py b/movensys_navigation_nav2_config/launch/base.launch.py
index bc07cb0..5061d4a 100644
--- a/movensys_navigation_nav2_config/launch/base.launch.py
+++ b/movensys_navigation_nav2_config/launch/base.launch.py
@@ -19,10 +19,13 @@ def generate_launch_description():
 
     xacro_file = os.path.join(description_share, 'urdf', navigation_model,
                               'movensys_navigation.xacro')
-    ekf_config_file = os.path.join(nav2_config_share, 'config', navigation_model, 'ekf.yaml')
+    config_dir = os.path.join(nav2_config_share, 'config', navigation_model)
+    ekf_config_file = os.path.join(config_dir, 'ekf.yaml')
+    ekf_cuvslam_config_file = os.path.join(config_dir, 'ekf_cuvslam.yaml')
     rviz_config = os.path.join(nav2_config_share, 'rviz', 'navigation.rviz')
 
     use_sim_time = ParameterValue(LaunchConfiguration('use_sim_time'), value_type=bool)
+    use_cuvslam = LaunchConfiguration('use_cuvslam')
 
     robot_state_publisher = Node(
         package='robot_state_publisher', executable='robot_state_publisher',
@@ -30,15 +33,33 @@ def generate_launch_description():
         condition=IfCondition(LaunchConfiguration('rsp')),
         parameters=[{
             'use_sim_time': use_sim_time,
-            'robot_description': Command(['xacro ', xacro_file, ' robot_name:=amr']),
+            'robot_description': Command([
+                'xacro ', xacro_file, ' robot_name:=amr',
+                ' urdf_camera_optical_tf:=', LaunchConfiguration('use_sim_time'),
+            ]),
         }])
 
     start_robot_localization = Node(
         package='robot_localization', executable='ekf_node',
         name='ekf_filter_node', output='screen',
+        condition=UnlessCondition(use_cuvslam),
         parameters=[ekf_config_file, {'use_sim_time': use_sim_time}],
         remappings=[('odometry/filtered', 'odom'), ('cmd_vel', 'cmd_vel_safe')])
 
+    start_robot_localization_cuvslam = Node(
+        package='robot_localization', executable='ekf_node',
+        name='ekf_filter_node', output='screen',
+        condition=IfCondition(use_cuvslam),
+        parameters=[ekf_cuvslam_config_file, {'use_sim_time': use_sim_time}],
+        remappings=[('odometry/filtered', 'odom'), ('cmd_vel', 'cmd_vel_safe')])
+
+    # cuVSLAM (Isaac ROS Visual SLAM) + RealSense driver.
+    start_visual_slam = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(perception_share, 'launch', 'cuvslam.launch.py')),
+        condition=IfCondition(use_cuvslam),
+        launch_arguments={'use_sim_time': LaunchConfiguration('use_sim_time')}.items())
+
     rviz = Node(
         package='rviz2', executable='rviz2', name='rviz2',
         arguments=['-d', rviz_config],
@@ -64,8 +85,17 @@ def generate_launch_description():
             description='Publish /robot_description here. Set false when a backend '
                         'launch (Gazebo sim or wmx_r2_control) already publishes it.',
         ),
+        DeclareLaunchArgument(
+            'use_cuvslam',
+            default_value='false',
+            description='Fuse Isaac ROS Visual SLAM (cuVSLAM) into the EKF. When true, '
+                        'the EKF uses ekf_cuvslam.yaml and the RealSense + cuVSLAM stack '
+                        'is launched (requires an isaac-ros_* image).',
+        ),
         robot_state_publisher,
         start_robot_localization,
+        start_robot_localization_cuvslam,
+        start_visual_slam,
         rviz,
         start_perception,
     ])
diff --git a/movensys_navigation_nav2_config/launch/mapping.launch.py b/movensys_navigation_nav2_config/launch/mapping.launch.py
index cdc8e2c..e7bde92 100644
--- a/movensys_navigation_nav2_config/launch/mapping.launch.py
+++ b/movensys_navigation_nav2_config/launch/mapping.launch.py
@@ -21,6 +21,7 @@ def generate_launch_description():
         launch_arguments={
             'use_sim_time': use_sim_time,
             'rsp': LaunchConfiguration('rsp'),
+            'use_cuvslam': LaunchConfiguration('use_cuvslam'),
         }.items())
 
     start_slam_toolbox = IncludeLaunchDescription(
@@ -43,6 +44,10 @@ def generate_launch_description():
             description='Publish /robot_description via base.launch.py. Set false when a '
                         'backend launch (Gazebo sim or wmx_r2_control) already publishes it.',
         ),
+        DeclareLaunchArgument(
+            'use_cuvslam', default_value='false',
+            description='Fuse Isaac ROS Visual SLAM (cuVSLAM) into the EKF (see base.launch.py).',
+        ),
         start_base,
         start_slam_toolbox,
     ])
diff --git a/movensys_navigation_nav2_config/launch/navigation.launch.py b/movensys_navigation_nav2_config/launch/navigation.launch.py
index 7e602d8..259efae 100644
--- a/movensys_navigation_nav2_config/launch/navigation.launch.py
+++ b/movensys_navigation_nav2_config/launch/navigation.launch.py
@@ -45,6 +45,7 @@ def generate_launch_description():
         launch_arguments={
             'use_sim_time': LaunchConfiguration('use_sim_time'),
             'rsp': LaunchConfiguration('rsp'),
+            'use_cuvslam': LaunchConfiguration('use_cuvslam'),
         }.items())
 
     # --- localization (map_server + amcl) ---
@@ -110,6 +111,9 @@ def generate_launch_description():
             'rsp', default_value='true',
             description='Publish /robot_description via base.launch.py. Set false when a '
                         'backend launch (Gazebo sim or wmx_r2_control) already publishes it.'),
+        DeclareLaunchArgument(
+            'use_cuvslam', default_value='false',
+            description='Fuse Isaac ROS Visual SLAM (cuVSLAM) into the EKF (see base.launch.py).'),
         start_base,
         map_server,
         amcl,
diff --git a/movensys_navigation_nav2_config/package.xml b/movensys_navigation_nav2_config/package.xml
index 702aa96..2d8552f 100644
--- a/movensys_navigation_nav2_config/package.xml
+++ b/movensys_navigation_nav2_config/package.xml
@@ -11,8 +11,9 @@
 
   <depend>urdf</depend>
   <depend>xacro</depend>
-  <depend>ros_gz_sim</depend>
-  <depend>ros2_control</depend>
+  <!-- Launch-time only; nothing here is compiled against. -->
+  <exec_depend>ros_gz_sim</exec_depend>
+  <exec_depend>ros2_control</exec_depend>
 
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
@@ -35,6 +36,8 @@
   <!-- mapping.launch.py -->
   <exec_depend>slam_toolbox</exec_depend>
 
+  <exec_depend>movensys_navigation_perception</exec_depend>
+
   <!-- navigation.launch.py -->
   <exec_depend>navigation2</exec_depend>
   <exec_depend>nav2_bringup</exec_depend>
diff --git a/movensys_navigation_perception/CMakeLists.txt b/movensys_navigation_perception/CMakeLists.txt
index e1a0d8b..3e8c2cb 100644
--- a/movensys_navigation_perception/CMakeLists.txt
+++ b/movensys_navigation_perception/CMakeLists.txt
@@ -26,6 +26,7 @@ if(BUILD_TESTING)
 endif()
 
 install(DIRECTORY
+  config
   launch
   DESTINATION share/${PROJECT_NAME}
 )
diff --git a/movensys_navigation_perception/config/diffbot/cuvslam.yaml b/movensys_navigation_perception/config/diffbot/cuvslam.yaml
new file mode 100644
index 0000000..80ea08b
--- /dev/null
+++ b/movensys_navigation_perception/config/diffbot/cuvslam.yaml
@@ -0,0 +1,56 @@
+### Isaac ROS Visual SLAM (cuVSLAM) config ###
+# Stereo-inertial visual odometry from a RealSense D455 (infra1/infra2 + IMU).
+# The node publishes /visual_slam/tracking/odometry, which the EKF fuses as an
+# extra odometry source (see ekf_cuvslam.yaml). TF publishing is disabled here
+# because robot_localization's EKF owns the odom -> base_link transform.
+visual_slam_node:
+    ros__parameters:
+        # --- frames ---
+        # base_frame chains to the camera optical frames via:
+        #   base_link -> camera_front_link (URDF/robot_state_publisher)
+        #   camera_front_link -> camera_front_*_optical_frame (realsense2_camera)
+        base_frame: base_link
+        odom_frame: odom
+        map_frame: map
+        # One D455 = two imagers. Order must match the image_N remaps in
+        # cuvslam.launch.py: image_0 -> infra1 (left), image_1 -> infra2 (right).
+        # These names come from the driver's node name (camera_front); the driver
+        # fixes the suffixes, so infra1/infra2 rather than left/right.
+        camera_optical_frames: [camera_front_infra1_optical_frame,
+                                camera_front_infra2_optical_frame]
+                                
+        imu_frame: camera_front_gyro_optical_frame
+
+        # --- cameras ---
+        num_cameras: 2
+        # RealSense infra streams are already rectified/undistorted.
+        rectified_images: true
+        enable_image_denoising: false
+        image_jitter_threshold_ms: 34.0
+
+        # --- inertial fusion (D455 IMU) ---
+        enable_imu_fusion: false
+        # Noise characteristics for the BMI055 (Isaac ROS reference values).
+        gyro_noise_density: 0.000244
+        gyro_random_walk: 0.000019393
+        accel_noise_density: 0.001862
+        accel_random_walk: 0.003
+        calibration_frequency: 200.0
+
+        # --- odometry vs. full SLAM ---
+        # false = pure visual(-inertial) odometry (VO), the mode used to feed the
+        #         EKF. Set true to enable landmark mapping + loop closure if you
+        #         later want cuVSLAM to also correct map -> odom drift.
+        enable_localization_n_mapping: false
+
+        # --- TF ownership ---
+        # The EKF publishes odom -> base_link, so keep both off here.
+        publish_odom_to_base_tf: false
+        publish_map_to_odom_tf: false
+        invert_odom_to_base_tf: false
+
+        # --- visualization (off by default; enable for debugging in RViz) ---
+        enable_slam_visualization: false
+        enable_landmarks_view: false
+        enable_observations_view: false
+        verbosity: 0
diff --git a/movensys_navigation_perception/config/diffbot/realsense_front.yaml b/movensys_navigation_perception/config/diffbot/realsense_front.yaml
new file mode 100644
index 0000000..aa8f7f5
--- /dev/null
+++ b/movensys_navigation_perception/config/diffbot/realsense_front.yaml
@@ -0,0 +1,30 @@
+/**:
+    ros__parameters:
+        device_type: ''
+        serial_no: '333422302722'
+        usb_port_id: ''
+
+        enable_infra1: true
+        enable_infra2: true
+        enable_color: false
+        enable_depth: false
+
+        depth_module:
+            emitter_enabled: 0
+            profile: '640x360x90'
+
+        enable_gyro: true
+        enable_accel: true
+        gyro_fps: 200
+        accel_fps: 200
+        unite_imu_method: 2 
+
+        enable_sync: true
+
+        camera_resolution:
+            width: 640
+            height: 480
+        camera_name: 'camera_front'
+        focal_length:
+            f_x: 380.0
+            f_y: 380.0
diff --git a/movensys_navigation_perception/launch/__pycache__/diffbot_perception.launch.cpython-312.pyc b/movensys_navigation_perception/launch/__pycache__/diffbot_perception.launch.cpython-312.pyc
deleted file mode 100644
index 1c49f56..0000000
Binary files a/movensys_navigation_perception/launch/__pycache__/diffbot_perception.launch.cpython-312.pyc and /dev/null differ
diff --git a/movensys_navigation_perception/launch/cuvslam.launch.py b/movensys_navigation_perception/launch/cuvslam.launch.py
new file mode 100644
index 0000000..66d42fd
--- /dev/null
+++ b/movensys_navigation_perception/launch/cuvslam.launch.py
@@ -0,0 +1,48 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+def generate_launch_description():
+    navigation_model = os.environ.get('NAVIGATION_MODEL', 'diffbot')
+    perception_share = get_package_share_directory('movensys_navigation_perception')
+    vslam_params = os.path.join(
+        perception_share, 'config', navigation_model, 'cuvslam.yaml')
+
+    use_sim_time = LaunchConfiguration('use_sim_time')
+
+    visual_slam_node = ComposableNode(
+        name='visual_slam_node',
+        package='isaac_ros_visual_slam',
+        plugin='nvidia::isaac_ros::visual_slam::VisualSlamNode',
+        parameters=[vslam_params, {'use_sim_time': use_sim_time}],
+        remappings=[
+            ('visual_slam/image_0', '/image_front_infra1/rgb'),
+            ('visual_slam/camera_info_0', '/image_front_infra1/camera_info'),
+            ('visual_slam/image_1', '/image_front_infra2/rgb'),
+            ('visual_slam/camera_info_1', '/image_front_infra2/camera_info'),
+        ],
+    )
+
+    visual_slam_container = ComposableNodeContainer(
+        name='visual_slam_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container_mt',
+        composable_node_descriptions=[visual_slam_node],
+        output='screen',
+    )
+
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='false',
+            description='Use simulation (Gazebo/Isaac) clock if true',
+        ),
+        visual_slam_container,
+    ])
diff --git a/movensys_navigation_perception/launch/diffbot_perception.launch.py b/movensys_navigation_perception/launch/diffbot_perception.launch.py
index 93288b4..f0d7840 100644
--- a/movensys_navigation_perception/launch/diffbot_perception.launch.py
+++ b/movensys_navigation_perception/launch/diffbot_perception.launch.py
@@ -1,10 +1,32 @@
 import math
+import os
 
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
+    pkg_share = get_package_share_directory('movensys_navigation_perception')
+    navigation_model = os.environ.get('NAVIGATION_MODEL', 'diffbot')
+    realsense_config = os.path.join(pkg_share, 'config', navigation_model,
+                                    'realsense_front.yaml')
+
+    camera_front_node = Node(
+        package='realsense2_camera',
+        executable='realsense2_camera_node',
+        name='realsense2_camera',
+        namespace='camera_front',
+        parameters=[realsense_config],
+        output='screen',
+        remappings=[
+            ('realsense2_camera/infra1/image_rect_raw', '/image_front_infra1/rgb'),
+            ('realsense2_camera/infra1/camera_info', '/image_front_infra1/camera_info'),
+            ('realsense2_camera/infra2/image_rect_raw', '/image_front_infra2/rgb'),
+            ('realsense2_camera/infra2/camera_info', '/image_front_infra2/camera_info'),
+        ],
+    )
+
     lidar_front_left_node = Node(
         package='sick_safetyscanners2',
         executable='sick_safetyscanners2_node',
@@ -12,25 +34,25 @@ def generate_launch_description():
         output='screen',
         emulate_tty=True,
         parameters=[
-            {"frame_id": "scan",
-             "sensor_ip": "192.168.29.11",
-             "host_ip": "192.168.29.44",
-             "interface_ip": "0.0.0.0",
-             "host_udp_port": 0,
-             "channel": 0,
-             "channel_enabled": True,
-             "skip": 0,
-             "angle_start": math.radians(-130),
-             "angle_end": math.radians(130),
-             "time_offset": 0.0,
-             "general_system_state": True,
-             "derived_settings": True,
-             "measurement_data": True,
-             "intrusion_data": True,
-             "application_io_data": True,
-             "use_persistent_config": False,
-             "min_intensities": 0.0,
-             "max_distance": 30}
+            {'frame_id': 'scan',
+             'sensor_ip': '192.168.29.11',
+             'host_ip': '192.168.29.44',
+             'interface_ip': '0.0.0.0',
+             'host_udp_port': 0,
+             'channel': 0,
+             'channel_enabled': True,
+             'skip': 0,
+             'angle_start': math.radians(-130),
+             'angle_end': math.radians(130),
+             'time_offset': 0.0,
+             'general_system_state': True,
+             'derived_settings': True,
+             'measurement_data': True,
+             'intrusion_data': True,
+             'application_io_data': True,
+             'use_persistent_config': False,
+             'min_intensities': 0.0,
+             'max_distance': 30}
         ],
     )
 
@@ -41,25 +63,25 @@ def generate_launch_description():
         output='screen',
         emulate_tty=True,
         parameters=[
-            {"frame_id": "scan",
-             "sensor_ip": "192.168.29.12",
-             "host_ip": "192.168.29.44",
-             "interface_ip": "0.0.0.0",
-             "host_udp_port": 0,
-             "channel": 0,
-             "channel_enabled": True,
-             "skip": 0,
-             "angle_start": math.radians(-130),
-             "angle_end": math.radians(130),
-             "time_offset": 0.0,
-             "general_system_state": True,
-             "derived_settings": True,
-             "measurement_data": True,
-             "intrusion_data": True,
-             "application_io_data": True,
-             "use_persistent_config": False,
-             "min_intensities": 0.0,
-             "max_distance": 30}
+            {'frame_id': 'scan',
+             'sensor_ip': '192.168.29.12',
+             'host_ip': '192.168.29.44',
+             'interface_ip': '0.0.0.0',
+             'host_udp_port': 0,
+             'channel': 0,
+             'channel_enabled': True,
+             'skip': 0,
+             'angle_start': math.radians(-130),
+             'angle_end': math.radians(130),
+             'time_offset': 0.0,
+             'general_system_state': True,
+             'derived_settings': True,
+             'measurement_data': True,
+             'intrusion_data': True,
+             'application_io_data': True,
+             'use_persistent_config': False,
+             'min_intensities': 0.0,
+             'max_distance': 30}
         ],
     )
 
@@ -69,10 +91,10 @@ def generate_launch_description():
         name='imu_node',
         output='screen',
         parameters=[
-            {"serial_port": "/dev/ttyACM0",
-             "serial_baud": 921600}
+            {'serial_port': '/dev/ttyACM0',
+             'serial_baud': 921600}
         ],
     )
 
     return LaunchDescription(
-        [lidar_front_left_node, lidar_rear_right_node, imu_node])
+        [camera_front_node, lidar_front_left_node, lidar_rear_right_node, imu_node])
diff --git a/movensys_navigation_perception/package.xml b/movensys_navigation_perception/package.xml
index 170963d..75b2f56 100644
--- a/movensys_navigation_perception/package.xml
+++ b/movensys_navigation_perception/package.xml
@@ -11,7 +11,11 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 	
   <exec_depend>ros2launch</exec_depend>
-  
+
+  <exec_depend>isaac_ros_visual_slam</exec_depend>
+  <exec_depend>realsense2_camera</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>