diff --git a/ros2/src/craic_localization/config/amcl.yaml b/ros2/src/craic_localization/config/amcl.yaml
new file mode 100644
index 0000000..ec868da
--- /dev/null
+++ b/ros2/src/craic_localization/config/amcl.yaml
@@ -0,0 +1,56 @@
+# P5 AMCL 定位参数 —— 改自 lzu_robot/maps/amcl_config.yaml
+# 麦轮底盘用 omni 运动模型；帧与 chassis_odometry / 激光一致。
+# 地图文件由 localization.launch.py 的 map:= 参数注入 map_server 的 yaml_filename。
+
+map_server:
+  ros__parameters:
+    use_sim_time: false
+    yaml_filename: ""        # 由 launch 的 map:= 覆盖
+    topic_name: "map"
+    frame_id: "map"
+
+amcl:
+  ros__parameters:
+    use_sim_time: false
+    # ===== 帧 / 话题 =====
+    odom_model_type: "omni"          # 麦轮全向；差速底盘改 "diff"
+    global_frame_id: "map"
+    base_frame_id: "base_footprint"
+    odom_frame_id: "odom"
+    scan_topic: "scan"
+
+    # ===== 运动模型噪声（按里程计实际精度调）=====
+    alpha1: 0.005
+    alpha2: 0.005
+    alpha3: 0.005
+    alpha4: 0.005
+    alpha5: 0.005
+
+    # ===== 粒子滤波 =====
+    min_particles: 500
+    max_particles: 1000
+    pf_err: 0.05
+    resample_interval: 5
+
+    # ===== 激光模型（匹配 TminiPro：12m）=====
+    laser_model_type: "likelihood_field"
+    laser_max_range: 12.0
+    laser_min_range: -1.0
+    max_beams: 500
+    sigma_hit: 0.05
+    z_hit: 0.5
+    z_rand: 0.03
+    laser_likelihood_max_dist: 2.0
+
+    # ===== 更新策略 =====
+    update_min_d: 0.05
+    update_min_a: 0.05
+    transform_tolerance: 0.5
+
+    # ===== 初始位姿（按机器人在场地中的起始点设置；可被 launch 覆盖）=====
+    set_initial_pose: true
+    initial_pose:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+      yaw: 0.0
diff --git a/ros2/src/craic_localization/config/gmapping.yaml b/ros2/src/craic_localization/config/gmapping.yaml
new file mode 100644
index 0000000..cfff292
--- /dev/null
+++ b/ros2/src/craic_localization/config/gmapping.yaml
@@ -0,0 +1,46 @@
+# gmapping(slam_gmapping) 建图参数 —— 改自 lzu_robot/src/slam_gmapping/params/slam_gmapping.yaml
+# 帧：base_frame=base_footprint（与 chassis_odometry 一致），odom_frame=odom，map_frame=map
+# 适配 385×385cm 小场地：maxUrange 4m 足够覆盖；delta 0.05 = 5cm 栅格
+# 用 /** 通配键确保参数无论节点全限定名如何都能生效（lzu 用 /slam_gmapping 键，
+# 其 TF 树恰好有 base_link 才掩盖了键不匹配、参数全默认的问题；我们没有 base_link 会直接报错）
+/**:
+  ros__parameters:
+    base_frame: base_footprint
+    odom_frame: odom
+    map_frame: map
+    map_update_interval: 5.0
+    maxUrange: 4.0
+    maxRange: 6.0
+    delta: 0.05
+    particles: 30
+    linearUpdate: 0.3
+    angularUpdate: 0.5
+    temporalUpdate: 1.0
+    resampleThreshold: 0.5
+    minimum_score: 0.0
+    # 运动模型噪声
+    srr: 0.1
+    srt: 0.2
+    str: 0.1
+    stt: 0.2
+    # 扫描匹配
+    sigma: 0.05
+    kernelSize: 1
+    lstep: 0.05
+    astep: 0.05
+    iterations: 5
+    lsigma: 0.075
+    ogain: 3.0
+    lskip: 0
+    llsamplerange: 0.01
+    llsamplestep: 0.01
+    lasamplerange: 0.005
+    lasamplestep: 0.005
+    # 地图范围（米）
+    xmin: -10.0
+    xmax: 10.0
+    ymin: -10.0
+    ymax: 10.0
+    occ_thresh: 0.25
+    transform_publish_period: 0.05
+    use_sim_time: false
diff --git a/ros2/src/craic_localization/config/lidar.yaml b/ros2/src/craic_localization/config/lidar.yaml
new file mode 100644
index 0000000..ed821c1
--- /dev/null
+++ b/ros2/src/craic_localization/config/lidar.yaml
@@ -0,0 +1,24 @@
+ydlidar_ros2_driver_node:
+  ros__parameters:
+    port: /dev/ttylzulaser
+    frame_id: laser_frame
+    ignore_array: ""
+    baudrate: 230400
+    lidar_type: 1
+    device_type: 0
+    sample_rate: 4
+    intensity_bit: 8
+    abnormal_check_count: 4
+    fixed_resolution: true
+    reversion: true
+    inverted: true
+    auto_reconnect: true
+    isSingleChannel: false
+    intensity: true
+    support_motor_dtr: false
+    angle_max: 180.0
+    angle_min: -180.0
+    range_max: 12.0
+    range_min: 0.03
+    frequency: 10.0
+    invalid_range_is_inf: false
diff --git a/ros2/src/craic_localization/craic_localization/__init__.py b/ros2/src/craic_localization/craic_localization/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/ros2/src/craic_localization/launch/bringup.launch.py b/ros2/src/craic_localization/launch/bringup.launch.py
new file mode 100644
index 0000000..24e8391
--- /dev/null
+++ b/ros2/src/craic_localization/launch/bringup.launch.py
@@ -0,0 +1,62 @@
+#!/usr/bin/env python3
+"""定位栈总 bringup：轮式里程计 + 激光雷达 + (可选) rviz。
+
+组成完整 TF 树：odom ──(chassis_odometry)──> base_footprint ──(静态外参)──> laser_frame
+用于 P3 激光外参标定与传感器联调：在 rviz 里同时看 /odom 与 /scan，
+调 lidar_yaw/lidar_x/lidar_y 直到激光轮廓与实际场地吻合。
+
+用法：
+  ros2 launch craic_localization bringup.launch.py
+  ros2 launch craic_localization bringup.launch.py use_rviz:=false
+  ros2 launch craic_localization bringup.launch.py lidar_yaw:=-1.5707963 intensity:=true
+"""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    pkg_share = get_package_share_directory('craic_localization')
+    lidar_launch = os.path.join(pkg_share, 'launch', 'lidar.launch.py')
+    default_rviz = os.path.join(pkg_share, 'rviz', 'localization.rviz')
+
+    use_rviz = LaunchConfiguration('use_rviz')
+    chassis_port = LaunchConfiguration('chassis_port')
+    rviz_config = LaunchConfiguration('rviz_config')
+
+    return LaunchDescription([
+        DeclareLaunchArgument('use_rviz', default_value='true'),
+        DeclareLaunchArgument('chassis_port', default_value='/dev/ttylzucar'),
+        DeclareLaunchArgument('rviz_config', default_value=default_rviz),
+
+        # 轮式里程计：odom -> base_footprint
+        Node(
+            package='craic_localization',
+            executable='chassis_odometry',
+            name='chassis_odometry',
+            output='screen',
+            parameters=[{'port': chassis_port}],
+        ),
+
+        # 激光雷达 + base_footprint -> laser_frame 静态外参（参数见 lidar.launch.py）
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(lidar_launch),
+        ),
+
+        # 可视化（标定 / 联调）
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', rviz_config],
+            condition=IfCondition(use_rviz),
+            output='screen',
+        ),
+    ])
diff --git a/ros2/src/craic_localization/launch/lidar.launch.py b/ros2/src/craic_localization/launch/lidar.launch.py
new file mode 100644
index 0000000..ea8a6d9
--- /dev/null
+++ b/ros2/src/craic_localization/launch/lidar.launch.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+"""激光雷达 bringup：启动 YDLiDAR TminiPro 驱动 + 发布 base_footprint→laser_frame 静态外参。
+
+YDLiDAR 驱动节点（ydlidar_ros2_driver_node）内部是普通 rclcpp::Node，启动即在 `scan`
+话题持续发布 sensor_msgs/LaserScan，无需 lifecycle configure/activate 转换。
+
+静态外参为**占位值**（绕 z 轴 -90°，对齐 move_try；平移取 0），需在 P3 按 CRAIC 上
+激光雷达的实际安装位置标定。可通过 launch 参数 lidar_x/lidar_y/lidar_z/lidar_yaw 覆盖。
+
+用法：
+  ros2 launch craic_localization lidar.launch.py
+  ros2 launch craic_localization lidar.launch.py params_file:=/abs/path/lidar.yaml lidar_yaw:=-1.5707963
+"""
+
+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 Node
+from launch_ros.descriptions import ParameterValue
+
+
+def generate_launch_description():
+    pkg_share = get_package_share_directory('craic_localization')
+    default_params = os.path.join(pkg_share, 'config', 'lidar.yaml')
+
+    params_file = LaunchConfiguration('params_file')
+    lidar_x = LaunchConfiguration('lidar_x')
+    lidar_y = LaunchConfiguration('lidar_y')
+    lidar_z = LaunchConfiguration('lidar_z')
+    lidar_yaw = LaunchConfiguration('lidar_yaw')
+    base_frame = LaunchConfiguration('base_frame')
+    laser_frame = LaunchConfiguration('laser_frame')
+    # 决定数据包解析格式的关键参数，作为 launch 覆盖项暴露，便于排查 Check Sum 报错：
+    # 基础 Tmini 无强度 -> intensity:=false；TminiPro 有强度 -> intensity:=true
+    intensity = LaunchConfiguration('intensity')
+    sample_rate = LaunchConfiguration('sample_rate')
+    baudrate = LaunchConfiguration('baudrate')
+
+    return LaunchDescription([
+        DeclareLaunchArgument('params_file', default_value=default_params,
+                              description='YDLiDAR 参数文件路径'),
+        DeclareLaunchArgument('base_frame', default_value='base_footprint'),
+        DeclareLaunchArgument('laser_frame', default_value='laser_frame'),
+        # 占位外参，P3 标定后覆盖
+        DeclareLaunchArgument('lidar_x', default_value='0.0'),
+        DeclareLaunchArgument('lidar_y', default_value='0.0'),
+        DeclareLaunchArgument('lidar_z', default_value='0.0'),
+        DeclareLaunchArgument('lidar_yaw', default_value='-3.14159',
+                              description='激光相对底盘偏航角(rad)。-180°=让机体X轴对准底盘实际前进(W键)方向；'
+                                          '若实测前后颠倒，改 0.0'),
+        # 数据包格式覆盖项（排查 Check Sum 报错用）
+        DeclareLaunchArgument('intensity', default_value='true',
+                              description='设备是否输出强度：基础 Tmini=false，TminiPro=true。不匹配会刷 Check Sum 报错'),
+        DeclareLaunchArgument('sample_rate', default_value='4',
+                              description='采样率(K)，Tmini 系列为 4'),
+        DeclareLaunchArgument('baudrate', default_value='230400'),
+
+        Node(
+            package='ydlidar_ros2_driver',
+            executable='ydlidar_ros2_driver_node',
+            name='ydlidar_ros2_driver_node',
+            output='screen',
+            emulate_tty=True,
+            parameters=[
+                params_file,
+                {
+                    'intensity': ParameterValue(intensity, value_type=bool),
+                    'sample_rate': ParameterValue(sample_rate, value_type=int),
+                    'baudrate': ParameterValue(baudrate, value_type=int),
+                },
+            ],
+            namespace='/',
+        ),
+        Node(
+            package='tf2_ros',
+            executable='static_transform_publisher',
+            name='static_tf_base_to_laser',
+            arguments=[
+                '--x', lidar_x, '--y', lidar_y, '--z', lidar_z,
+                '--yaw', lidar_yaw, '--pitch', '0.0', '--roll', '0.0',
+                '--frame-id', base_frame, '--child-frame-id', laser_frame,
+            ],
+        ),
+        # base_footprint -> base_link 恒等变换。
+        # slam_gmapping(本 build)不从参数读 base_frame，硬编码默认 base_link；
+        # 提供该帧让其默认值可解析。本工程 base_footprint 即底盘基准，两者重合。
+        Node(
+            package='tf2_ros',
+            executable='static_transform_publisher',
+            name='static_tf_base_link',
+            arguments=[
+                '--x', '0.0', '--y', '0.0', '--z', '0.0',
+                '--yaw', '0.0', '--pitch', '0.0', '--roll', '0.0',
+                '--frame-id', base_frame, '--child-frame-id', 'base_link',
+            ],
+        ),
+    ])
diff --git a/ros2/src/craic_localization/launch/localization.launch.py b/ros2/src/craic_localization/launch/localization.launch.py
new file mode 100644
index 0000000..f4547d5
--- /dev/null
+++ b/ros2/src/craic_localization/launch/localization.launch.py
@@ -0,0 +1,128 @@
+#!/usr/bin/env python3
+"""P5 精准定位：激光 + rf2o 激光里程计 + 已知地图 + AMCL。
+
+完整 TF 树：map ─(amcl)→ odom ─(rf2o)→ base_footprint ─(静态)→ laser_frame
+odom→base_footprint 由 rf2o 从 /scan 连续提供(不依赖底盘里程计板)，AMCL 用它做运动模型、
+激光匹配已知地图做校正，输出绝对、无漂移位姿。需要 P4 建好并存盘的地图。
+
+说明：底盘轮式里程计板上电后仅短时上报，暂不参与 odom→base；待其连续上报问题解决后，
+可用 robot_localization EKF 融合轮速 + rf2o 再喂 AMCL 提升鲁棒性。
+
+用法：
+  ros2 launch craic_localization localization.launch.py map:=/abs/path/maps/craic.yaml
+  # 起点不在地图原点时，rviz 用 "2D Pose Estimate" 给初值，或：
+  ros2 launch craic_localization localization.launch.py map:=... init_x:=0.3 init_y:=0.2 init_yaw:=1.57
+"""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.descriptions import ParameterValue
+
+
+def generate_launch_description():
+    pkg_share = get_package_share_directory('craic_localization')
+    lidar_launch = os.path.join(pkg_share, 'launch', 'lidar.launch.py')
+    amcl_params = os.path.join(pkg_share, 'config', 'amcl.yaml')
+    default_rviz = os.path.join(pkg_share, 'rviz', 'localization.rviz')
+    default_map = os.path.join(pkg_share, 'maps', 'craic.yaml')
+
+    use_rviz = LaunchConfiguration('use_rviz')
+    map_yaml = LaunchConfiguration('map')
+    init_x = LaunchConfiguration('init_x')
+    init_y = LaunchConfiguration('init_y')
+    init_yaw = LaunchConfiguration('init_yaw')
+    show_points = LaunchConfiguration('show_points')
+    points_file = LaunchConfiguration('points_file')
+
+    return LaunchDescription([
+        DeclareLaunchArgument('use_rviz', default_value='true'),
+        DeclareLaunchArgument('map', default_value=default_map,
+                              description='地图 yaml 路径(P4 由 map_saver 存盘得到)'),
+        DeclareLaunchArgument('init_x', default_value='0.0'),
+        DeclareLaunchArgument('init_y', default_value='0.0'),
+        DeclareLaunchArgument('init_yaw', default_value='0.0'),
+        DeclareLaunchArgument('show_points', default_value='true'),
+        DeclareLaunchArgument('points_file',
+                              default_value=os.path.join(pkg_share, 'config', 'taught_points.yaml'),
+                              description='示教点位文件(rviz 显示)；想实时看示教就指向你的 taught_points.yaml'),
+
+        # ===== 传感器 + 激光里程计(odom -> base_footprint) =====
+        IncludeLaunchDescription(PythonLaunchDescriptionSource(lidar_launch)),
+        Node(
+            package='rf2o_laser_odometry',
+            executable='rf2o_laser_odometry_node',
+            name='rf2o_laser_odometry',
+            output='screen',
+            parameters=[{
+                'laser_scan_topic': '/scan',
+                'odom_topic': '/odom',
+                'publish_tf': True,
+                'base_frame_id': 'base_footprint',
+                'odom_frame_id': 'odom',
+                'init_pose_from_topic': '',
+                'freq': 10.0,
+            }],
+        ),
+
+        # ===== 地图服务 =====
+        Node(
+            package='nav2_map_server',
+            executable='map_server',
+            name='map_server',
+            output='screen',
+            parameters=[amcl_params, {'yaml_filename': map_yaml}],
+        ),
+
+        # ===== AMCL 定位 =====
+        Node(
+            package='nav2_amcl',
+            executable='amcl',
+            name='amcl',
+            output='screen',
+            parameters=[amcl_params, {
+                'set_initial_pose': True,
+                'initial_pose.x': ParameterValue(init_x, value_type=float),
+                'initial_pose.y': ParameterValue(init_y, value_type=float),
+                'initial_pose.yaw': ParameterValue(init_yaw, value_type=float),
+            }],
+        ),
+
+        # ===== 生命周期管理：自动 configure+activate map_server 与 amcl =====
+        Node(
+            package='nav2_lifecycle_manager',
+            executable='lifecycle_manager',
+            name='lifecycle_manager_localization',
+            output='screen',
+            parameters=[{
+                'use_sim_time': False,
+                'autostart': True,
+                'node_names': ['map_server', 'amcl'],
+            }],
+        ),
+
+        # ===== 示教点位可视化 =====
+        Node(
+            package='craic_localization',
+            executable='show_points',
+            name='show_points',
+            output='screen',
+            parameters=[{'points_file': points_file}],
+            condition=IfCondition(show_points),
+        ),
+
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', default_rviz],
+            condition=IfCondition(use_rviz),
+            output='screen',
+        ),
+    ])
diff --git a/ros2/src/craic_localization/launch/mapping.launch.py b/ros2/src/craic_localization/launch/mapping.launch.py
new file mode 100644
index 0000000..759928c
--- /dev/null
+++ b/ros2/src/craic_localization/launch/mapping.launch.py
@@ -0,0 +1,73 @@
+#!/usr/bin/env python3
+"""P4 建图：激光 + rf2o 激光里程计 + slam_gmapping(SLAM)。
+
+odom→base_footprint 由 rf2o(从连续 /scan 推算)提供，**不依赖底盘里程计板** ——
+该板上电后仅短时上报，会让 odom TF 冻结、gmapping 报 "queue is full" 丢弃所有 scan。
+本管线对齐 lzu_robot 可正常建图的做法（rf2o 提供 odom→base，gmapping 出图）。
+
+用法：
+  ros2 launch craic_localization mapping.launch.py
+  # 另开终端遥控走图；满意后存盘：
+  ros2 run nav2_map_server map_saver_cli -f <pkg>/maps/craic --ros-args -p save_map_timeout:=10000.0
+"""
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    pkg_share = get_package_share_directory('craic_localization')
+    lidar_launch = os.path.join(pkg_share, 'launch', 'lidar.launch.py')
+    gmapping_params = os.path.join(pkg_share, 'config', 'gmapping.yaml')
+    default_rviz = os.path.join(pkg_share, 'rviz', 'localization.rviz')
+
+    use_rviz = LaunchConfiguration('use_rviz')
+
+    return LaunchDescription([
+        DeclareLaunchArgument('use_rviz', default_value='true'),
+
+        # 激光 + 静态外参(base_footprint->laser_frame, base_footprint->base_link)
+        IncludeLaunchDescription(PythonLaunchDescriptionSource(lidar_launch)),
+
+        # 激光里程计：从 /scan 连续输出 odom -> base_footprint（建图运动来源）
+        Node(
+            package='rf2o_laser_odometry',
+            executable='rf2o_laser_odometry_node',
+            name='rf2o_laser_odometry',
+            output='screen',
+            parameters=[{
+                'laser_scan_topic': '/scan',
+                'odom_topic': '/odom',
+                'publish_tf': True,
+                'base_frame_id': 'base_footprint',
+                'odom_frame_id': 'odom',
+                'init_pose_from_topic': '',
+                'freq': 10.0,
+            }],
+        ),
+
+        # SLAM：发布 /map 与 TF map -> odom
+        Node(
+            package='slam_gmapping',
+            executable='slam_gmapping',
+            name='slam_gmapping',
+            output='screen',
+            parameters=[gmapping_params],
+        ),
+
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', default_rviz],
+            condition=IfCondition(use_rviz),
+            output='screen',
+        ),
+    ])
diff --git a/ros2/src/craic_localization/package.xml b/ros2/src/craic_localization/package.xml
new file mode 100644
index 0000000..e641fae
--- /dev/null
+++ b/ros2/src/craic_localization/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>craic_localization</name>
+  <version>0.0.0</version>
+  <description>Wheel odometry + LiDAR localization for the CRAIC mobile base</description>
+  <maintainer email="fallensigh@gmail.com">fallensigh</maintainer>
+  <license>MIT</license>
+
+  <depend>rclpy</depend>
+  <depend>nav_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>visualization_msgs</depend>
+  <exec_depend>python3-yaml</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/ros2/src/craic_localization/resource/craic_localization b/ros2/src/craic_localization/resource/craic_localization
new file mode 100644
index 0000000..e69de29
diff --git a/ros2/src/craic_localization/rviz/localization.rviz b/ros2/src/craic_localization/rviz/localization.rviz
new file mode 100644
index 0000000..ee92fe8
--- /dev/null
+++ b/ros2/src/craic_localization/rviz/localization.rviz
@@ -0,0 +1,130 @@
+Panels:
+  - Class: rviz_common/Displays
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1
+        - /LaserScan1
+        - /LaserScan1/Topic1
+        - /Odometry1
+      Splitter Ratio: 0.5
+  - Class: rviz_common/Views
+    Name: Views
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz_default_plugins/Grid
+      Name: Grid
+      Enabled: true
+      Reference Frame: <Fixed Frame>
+      Plane Cell Count: 20
+      Cell Size: 0.5
+      Color: 160; 160; 164
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Name: TF
+      Enabled: true
+      Show Names: true
+      Show Axes: true
+      Show Arrows: true
+      Marker Scale: 0.5
+      Update Interval: 0
+      Frame Timeout: 15
+      Value: true
+    - Class: rviz_default_plugins/Map
+      Name: Map
+      Enabled: true
+      Topic:
+        Value: /map
+        Depth: 1
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+      Color Scheme: map
+      Draw Behind: true
+      Alpha: 0.7
+      Value: true
+    - Class: rviz_default_plugins/LaserScan
+      Name: LaserScan
+      Enabled: true
+      Topic:
+        Value: /scan
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Filter size: 10
+      Style: Points
+      Size (m): 0.02
+      Size (Pixels): 3
+      Color Transformer: FlatColor
+      Color: 255; 30; 30
+      Decay Time: 0
+      Position Transformer: XYZ
+      Value: true
+    - Class: rviz_default_plugins/Odometry
+      Name: Odometry
+      Enabled: true
+      Topic:
+        Value: /odom
+        Depth: 10
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+      Keep: 1
+      Position Tolerance: 0.05
+      Angle Tolerance: 0.05
+      Shape:
+        Value: Arrow
+        Color: 30; 255; 30
+        Shaft Length: 0.3
+        Shaft Radius: 0.03
+        Head Length: 0.1
+        Head Radius: 0.06
+        Alpha: 1
+      Covariance:
+        Value: false
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Name: TaughtPoints
+      Enabled: true
+      Topic:
+        Value: /taught_points
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+      Namespaces: {}
+      Value: true
+  Global Options:
+    Fixed Frame: odom
+    Background Color: 48; 48; 48
+    Frame Rate: 30
+  Tools:
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Name: Current View
+      Distance: 8
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Pitch: 1.2
+      Yaw: 3.14
+      Target Frame: <Fixed Frame>
+    Saved: ~
+Window Geometry:
+  Height: 800
+  Width: 1200
+  Displays:
+    collapsed: false
+  Views:
+    collapsed: false
diff --git a/ros2/src/craic_localization/setup.cfg b/ros2/src/craic_localization/setup.cfg
new file mode 100644
index 0000000..a945af8
--- /dev/null
+++ b/ros2/src/craic_localization/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/craic_localization
+[install]
+install_scripts=$base/lib/craic_localization
diff --git a/ros2/src/craic_localization/setup.py b/ros2/src/craic_localization/setup.py
new file mode 100644
index 0000000..a2591cb
--- /dev/null
+++ b/ros2/src/craic_localization/setup.py
@@ -0,0 +1,46 @@
+import os
+from glob import glob
+
+from setuptools import find_packages, setup
+
+package_name = 'craic_localization'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'config'),
+            glob('config/*.yaml')),
+        (os.path.join('share', package_name, 'launch'),
+            glob('launch/*.launch.py')),
+        (os.path.join('share', package_name, 'rviz'),
+            glob('rviz/*.rviz')),
+        (os.path.join('share', package_name, 'urdf'),
+            glob('urdf/*')),
+        (os.path.join('share', package_name, 'maps'),
+            glob('maps/*')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='fallensigh',
+    maintainer_email='fallensigh@gmail.com',
+    description='Wheel odometry + LiDAR localization for the CRAIC mobile base',
+    license='MIT',
+    extras_require={
+        'test': [
+            'pytest',
+        ],
+    },
+    entry_points={
+        'console_scripts': [
+            'chassis_odometry = craic_localization.chassis_odometry:main',
+            'teach_points = craic_localization.teach_points:main',
+            'navigate_to_point = craic_localization.navigate_to_point:main',
+            'show_points = craic_localization.show_points:main',
+        ],
+    },
+)