diff --git a/Makefile b/Makefile
index 63b06df..fda612d 100644
--- a/Makefile
+++ b/Makefile
@@ -5,11 +5,20 @@ docker_start:
 	@./scripts/run_dev.sh 
 
 nav2:
-	@cd deploy && docker build --tag go2py_nav2:latest -f docker/Dockerfile.nav2 .
+	@cd deploy && docker build --no-cache --tag go2py_nav2:latest -f docker/Dockerfile.nav2 .
+
+nav2_source:
+	@cd deploy && docker build --tag robocaster/navigation2:aarch64 -f docker/Dockerfile.nav2_source .
 
 nav2_start:
 	@ ./scripts/run_nav2.sh
 
+mexplore:
+	@cd deploy && docker build --no-cache --tag go2py_mexplore:latest -f docker/Dockerfile.mexplore .
+
+mexplore_start:
+	@ ./scripts/run_mexplore.sh
+
 messages:
 	@cd scripts && ./make_msgs.sh 
 
diff --git a/deploy/docker/Dockerfile.mexplore b/deploy/docker/Dockerfile.mexplore
new file mode 100644
index 0000000..f55441d
--- /dev/null
+++ b/deploy/docker/Dockerfile.mexplore
@@ -0,0 +1,28 @@
+# FROM isaac_ros_dev-aarch64
+FROM ros:humble
+ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-c"]
+# uodate and install dependencies 
+RUN apt-get update && apt-get install -y \
+    ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
+    libyaml-cpp-dev \
+    ros-humble-xacro \
+    libboost-all-dev\
+    build-essential \
+    cmake \
+    git \
+    ros-humble-cv-bridge \
+    && rm -rf /var/lib/apt/lists/*
+
+# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
+RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
+git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
+cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
+
+# copy the required scripts and source files
+COPY ros2_nodes/m-explore-ros2 /explore_ws/src/m-explore-ros2
+# RUN cd /explore_ws && source /opt/ros/humble/setup.bash && colcon build --symlink-install
+
+# set the entrypoint to bash
+#ENTRYPOINT ["/bin/bash"]
+ENTRYPOINT ["/bin/bash", "/root/scripts/front_cam_publisher.sh"]
diff --git a/deploy/docker/Dockerfile.nav2 b/deploy/docker/Dockerfile.nav2
index ed26aec..180bf00 100644
--- a/deploy/docker/Dockerfile.nav2
+++ b/deploy/docker/Dockerfile.nav2
@@ -1,148 +1,28 @@
-# FROM isaac_ros_dev-aarch64
-# This dockerfile can be configured via --build-arg
-# Build context must be the /navigation2 root folder for COPY.
-# Example build command:
-# export UNDERLAY_MIXINS="debug ccache lld"
-# export OVERLAY_MIXINS="debug ccache coverage-gcc lld"
-# docker build -t nav2:latest \
-#   --build-arg UNDERLAY_MIXINS \
-#   --build-arg OVERLAY_MIXINS ./
-ARG FROM_IMAGE=ros:rolling
-ARG UNDERLAY_WS=/opt/underlay_ws
-ARG OVERLAY_WS=/opt/overlay_ws
-
-# multi-stage for caching
-FROM $FROM_IMAGE AS cacher
-
-# clone underlay source
-ARG UNDERLAY_WS
-WORKDIR $UNDERLAY_WS/src
-# Clone the repositories
-RUN cd /home && mkdir nav2_ws && cd nav2_ws && mkdir src && cd src && \
-    git clone -b master https://github.com/BehaviorTree/BehaviorTree.CPP.git && \
-    git clone -b ros2 https://github.com/ros/angles.git && \
-    git clone -b rolling https://github.com/ros-perception/vision_opencv.git && \
-    git clone -b ros2 https://github.com/ros/bond_core.git && \
-    git clone -b ros2 https://github.com/ros/diagnostics.git && \
-    git clone -b ros2 https://github.com/ros-geographic-info/geographic_info.git && \
-    git clone -b main https://github.com/ompl/ompl.git && \
-    git clone -b ros2 https://github.com/cra-ros-pkg/robot_localization.git && \
-    git clone -b 1.0.1 https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation.git
-
-# copy overlay source
-ARG OVERLAY_WS
-WORKDIR $OVERLAY_WS/src
-RUN git clone https://github.com/ros-navigation/navigation2.git && git clone https://github.com/SteveMacenski/slam_toolbox.git -b ros2 
-
-# copy manifests for caching
-WORKDIR /opt
-RUN find . -name "src" -type d \
-      -mindepth 1 -maxdepth 2 -printf '%P\n' \
-      | xargs -I % mkdir -p /tmp/opt/% && \
-    find . -name "package.xml" \
-      | xargs cp --parents -t /tmp/opt && \
-    find . -name "COLCON_IGNORE" \
-      | xargs cp --parents -t /tmp/opt || true
-
-# multi-stage for building
-FROM $FROM_IMAGE AS builder
-
-# config dependencies install
-ARG DEBIAN_FRONTEND=noninteractive
-RUN echo '\
-APT::Install-Recommends "0";\n\
-APT::Install-Suggests "0";\n\
-' > /etc/apt/apt.conf.d/01norecommend
-ENV PYTHONUNBUFFERED 1
-
-# install CI dependencies
-ARG RTI_NC_LICENSE_ACCEPTED=yes
-RUN apt-get update && \
-    apt-get upgrade -y --with-new-pkgs && \
-    apt-get install -y \
-      ccache \
-      lcov \
-      lld \
-      python3-pip \
-      ros-$ROS_DISTRO-rmw-fastrtps-cpp \
-      ros-$ROS_DISTRO-rmw-connextdds \
-      ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
-      ros-$ROS_DISTRO-rmw-cyclonedds-cpp\ 
-      ros-$ROS_DISTRO-rosidl-generator-dds-idl \ 
-    && pip3 install --break-system-packages \
-      fastcov \
-      git+https://github.com/ruffsl/colcon-cache.git@a937541bfc496c7a267db7ee9d6cceca61e470ca \
-      git+https://github.com/ruffsl/colcon-clean.git@a7f1074d1ebc1a54a6508625b117974f2672f2a9 \
-    && rosdep update \
-    && colcon mixin update \
-    && colcon metadata update \
+FROM robocaster/navigation2:aarch64
+ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-c"]
+# uodate and install dependencies 
+RUN apt-get update && apt-get install -y \
+    ros-rolling-rmw-cyclonedds-cpp ros-rolling-rosidl-generator-dds-idl \
+    libyaml-cpp-dev \
+    libboost-all-dev\
+    build-essential \
+    cmake \
+    git \
     && rm -rf /var/lib/apt/lists/*
 
-# install underlay dependencies
-ARG UNDERLAY_WS
-ENV UNDERLAY_WS $UNDERLAY_WS
-WORKDIR $UNDERLAY_WS
-COPY --from=cacher /tmp/$UNDERLAY_WS ./
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-    apt-get update && rosdep install -q -y \
-      --from-paths src \
-      --skip-keys " \
-        slam_toolbox \
-        " \
-      --ignore-src \
-    && rm -rf /var/lib/apt/lists/*
-
-# build underlay source
-COPY --from=cacher $UNDERLAY_WS ./
-ARG UNDERLAY_MIXINS="release ccache lld"
-ARG CCACHE_DIR="$UNDERLAY_WS/.ccache"
-RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
-    colcon cache lock && \
-    colcon build \
-      --symlink-install \
-      --mixin $UNDERLAY_MIXINS \
-      --event-handlers console_direct+ \
-      --cmake-args -DCMAKE_BUILD_TYPE=Release
-
-# install overlay dependencies
-ARG OVERLAY_WS
-ENV OVERLAY_WS $OVERLAY_WS
-WORKDIR $OVERLAY_WS
-COPY --from=cacher /tmp/$OVERLAY_WS ./
-
-RUN . $UNDERLAY_WS/install/setup.sh && \
-    apt-get update && rosdep install -q -y \
-      --from-paths src \
-      --skip-keys " \
-        slam_toolbox \
-        "\
-      --ignore-src \
-    && rm -rf /var/lib/apt/lists/*
-
-# multi-stage for testing
-FROM builder AS tester
-
-# build overlay source
-COPY --from=cacher $OVERLAY_WS ./
-ARG OVERLAY_MIXINS="release ccache lld"
-ARG CCACHE_DIR="$OVERLAY_WS/.ccache"
-RUN . $UNDERLAY_WS/install/setup.sh && \
-    colcon cache lock && \
-    colcon build \
-      --symlink-install \
-      --mixin $OVERLAY_MIXINS \
-      --cmake-args -DCMAKE_BUILD_TYPE=Release
-
-# source overlay from entrypoint
-RUN sed --in-place \
-      's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
-      /ros_entrypoint.sh
-
+# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
+RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
+git clone https://github.com/ros2/rmw_cyclonedds -b rolling && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
+cd .. && colcon build --packages-select cyclonedds && source /opt/ros/rolling/setup.bash && colcon build
 
 # copy the go2py ros2 nodes
-COPY ros2_nodes/m-explore-ros2 /home/nav2_ws/src/m-explore-ros2
-# COPY ros2_nodes/sportmode_nav2 /home/nav2_ws/src/sportmode_nav2
-# RUN cd /home/nav2_ws && source /opt/ros/rolling/setup.bash && \
-# colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
+# COPY ros2_nodes/go2py_messages /bridge_ws/src/go2py_messages
+# RUN cd /bridge_ws && source /opt/ros/humble/setup.bash && source /unitree_ros2/cyclonedds_ws/install/setup.bash && colcon build --symlink-install
 
-ENTRYPOINT ["/bin/bash"]
+# Copy the script to start the nodes
+COPY docker/scripts /root/scripts
+COPY launch_files /root/launch
+
+# set the entrypoint to bash
+ENTRYPOINT ["/bin/bash", "/root/scripts/nav2_start.sh"]
diff --git a/deploy/docker/Dockerfile.nav2_source b/deploy/docker/Dockerfile.nav2_source
new file mode 100644
index 0000000..14ab7e8
--- /dev/null
+++ b/deploy/docker/Dockerfile.nav2_source
@@ -0,0 +1,148 @@
+# FROM isaac_ros_dev-aarch64
+# This dockerfile can be configured via --build-arg
+# Build context must be the /navigation2 root folder for COPY.
+# Example build command:
+# export UNDERLAY_MIXINS="debug ccache lld"
+# export OVERLAY_MIXINS="debug ccache coverage-gcc lld"
+# docker build -t nav2:latest \
+#   --build-arg UNDERLAY_MIXINS \
+#   --build-arg OVERLAY_MIXINS ./
+ARG FROM_IMAGE=ros:rolling
+ARG UNDERLAY_WS=/opt/underlay_ws
+ARG OVERLAY_WS=/opt/overlay_ws
+
+# multi-stage for caching
+FROM $FROM_IMAGE AS cacher
+
+# clone underlay source
+ARG UNDERLAY_WS
+WORKDIR $UNDERLAY_WS/src
+# Clone the repositories
+RUN cd /home && mkdir nav2_ws && cd nav2_ws && mkdir src && cd src && \
+    git clone -b master https://github.com/BehaviorTree/BehaviorTree.CPP.git && \
+    git clone -b ros2 https://github.com/ros/angles.git && \
+    git clone -b rolling https://github.com/ros-perception/vision_opencv.git && \
+    git clone -b ros2 https://github.com/ros/bond_core.git && \
+    git clone -b ros2 https://github.com/ros/diagnostics.git && \
+    git clone -b ros2 https://github.com/ros-geographic-info/geographic_info.git && \
+    git clone -b main https://github.com/ompl/ompl.git && \
+    git clone -b ros2 https://github.com/cra-ros-pkg/robot_localization.git && \
+    git clone -b 1.0.1 https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation.git
+
+# copy overlay source
+ARG OVERLAY_WS
+WORKDIR $OVERLAY_WS/src
+RUN git clone https://github.com/ros-navigation/navigation2.git && git clone https://github.com/SteveMacenski/slam_toolbox.git -b ros2 
+
+# copy manifests for caching
+WORKDIR /opt
+RUN find . -name "src" -type d \
+      -mindepth 1 -maxdepth 2 -printf '%P\n' \
+      | xargs -I % mkdir -p /tmp/opt/% && \
+    find . -name "package.xml" \
+      | xargs cp --parents -t /tmp/opt && \
+    find . -name "COLCON_IGNORE" \
+      | xargs cp --parents -t /tmp/opt || true
+
+# multi-stage for building
+FROM $FROM_IMAGE AS builder
+
+# config dependencies install
+ARG DEBIAN_FRONTEND=noninteractive
+RUN echo '\
+APT::Install-Recommends "0";\n\
+APT::Install-Suggests "0";\n\
+' > /etc/apt/apt.conf.d/01norecommend
+ENV PYTHONUNBUFFERED 1
+
+# install CI dependencies
+ARG RTI_NC_LICENSE_ACCEPTED=yes
+RUN apt-get update && \
+    apt-get upgrade -y --with-new-pkgs && \
+    apt-get install -y \
+      ccache \
+      lcov \
+      lld \
+      python3-pip \
+      ros-$ROS_DISTRO-rmw-fastrtps-cpp \
+      ros-$ROS_DISTRO-rmw-connextdds \
+      ros-$ROS_DISTRO-rmw-cyclonedds-cpp \
+      ros-$ROS_DISTRO-rmw-cyclonedds-cpp\ 
+      ros-$ROS_DISTRO-rosidl-generator-dds-idl \ 
+    && pip3 install --break-system-packages \
+      fastcov \
+      git+https://github.com/ruffsl/colcon-cache.git@a937541bfc496c7a267db7ee9d6cceca61e470ca \
+      git+https://github.com/ruffsl/colcon-clean.git@a7f1074d1ebc1a54a6508625b117974f2672f2a9 \
+    && rosdep update \
+    && colcon mixin update \
+    && colcon metadata update \
+    && rm -rf /var/lib/apt/lists/*
+
+# install underlay dependencies
+ARG UNDERLAY_WS
+ENV UNDERLAY_WS $UNDERLAY_WS
+WORKDIR $UNDERLAY_WS
+COPY --from=cacher /tmp/$UNDERLAY_WS ./
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    apt-get update && rosdep install -q -y \
+      --from-paths src \
+      --skip-keys " \
+        slam_toolbox \
+        " \
+      --ignore-src \
+    && rm -rf /var/lib/apt/lists/*
+
+# build underlay source
+COPY --from=cacher $UNDERLAY_WS ./
+ARG UNDERLAY_MIXINS="release ccache lld"
+ARG CCACHE_DIR="$UNDERLAY_WS/.ccache"
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon cache lock && \
+    colcon build \
+      --symlink-install \
+      --mixin $UNDERLAY_MIXINS \
+      --event-handlers console_direct+ \
+      --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# install overlay dependencies
+ARG OVERLAY_WS
+ENV OVERLAY_WS $OVERLAY_WS
+WORKDIR $OVERLAY_WS
+COPY --from=cacher /tmp/$OVERLAY_WS ./
+
+RUN . $UNDERLAY_WS/install/setup.sh && \
+    apt-get update && rosdep install -q -y \
+      --from-paths src \
+      --skip-keys " \
+        slam_toolbox \
+        "\
+      --ignore-src \
+    && rm -rf /var/lib/apt/lists/*
+
+# multi-stage for testing
+FROM builder AS tester
+
+# build overlay source
+COPY --from=cacher $OVERLAY_WS ./
+ARG OVERLAY_MIXINS="release ccache lld"
+ARG CCACHE_DIR="$OVERLAY_WS/.ccache"
+RUN . $UNDERLAY_WS/install/setup.sh && \
+    colcon cache lock && \
+    colcon build \
+      --symlink-install \
+      --mixin $OVERLAY_MIXINS \
+      --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# source overlay from entrypoint
+RUN sed --in-place \
+      's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \
+      /ros_entrypoint.sh
+
+
+# copy the go2py ros2 nodes
+# COPY ros2_nodes/m-explore-ros2 /home/nav2_ws/src/m-explore-ros2
+# COPY ros2_nodes/sportmode_nav2 /home/nav2_ws/src/sportmode_nav2
+# RUN cd /home/nav2_ws && source /opt/ros/rolling/setup.bash && \
+# colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
+
+ENTRYPOINT ["/bin/bash"]
diff --git a/deploy/docker/scripts/mexplore_start.sh b/deploy/docker/scripts/mexplore_start.sh
new file mode 100644
index 0000000..e640470
--- /dev/null
+++ b/deploy/docker/scripts/mexplore_start.sh
@@ -0,0 +1,7 @@
+source /opt/ros/humble/setup.bash
+source /unitree_ros2/cyclonedds_ws/install/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
+                            <NetworkInterface name="eth0" priority="default" multicast="default" />
+                        </Interfaces></General></Domain></CycloneDDS>'
+source /explore_ws/install/setup.bash && /bin/bash
\ No newline at end of file
diff --git a/deploy/docker/scripts/nav2_start.sh b/deploy/docker/scripts/nav2_start.sh
new file mode 100644
index 0000000..a14cacd
--- /dev/null
+++ b/deploy/docker/scripts/nav2_start.sh
@@ -0,0 +1,7 @@
+source /opt/ros/rolling/setup.bash
+source /unitree_ros2/cyclonedds_ws/install/setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
+                            <NetworkInterface name="eth0" priority="default" multicast="default" />
+                        </Interfaces></General></Domain></CycloneDDS>'
+source /opt/overlay_ws/install/setup.bash && /bin/bash
\ No newline at end of file
diff --git a/deploy/ros2_nodes/sportmode_nav2/launch/cbf_navigation_launch.py b/deploy/ros2_nodes/sportmode_nav2/launch/cbf_navigation_launch.py
deleted file mode 100644
index 2231a26..0000000
--- a/deploy/ros2_nodes/sportmode_nav2/launch/cbf_navigation_launch.py
+++ /dev/null
@@ -1,272 +0,0 @@
-# Copyright (c) 2018 Intel Corporation
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
-from launch.conditions import IfCondition
-from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import LoadComposableNodes
-from launch_ros.actions import Node
-from launch_ros.descriptions import ComposableNode, ParameterFile
-from nav2_common.launch import RewrittenYaml
-
-
-def generate_launch_description():
-    # Get the launch directory
-    bringup_dir = get_package_share_directory('sportmode_nav2')
-
-    namespace = LaunchConfiguration('namespace')
-    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
-    autostart = LaunchConfiguration('autostart')
-    params_file = LaunchConfiguration('params_file')
-    use_composition = LaunchConfiguration('use_composition')
-    container_name = LaunchConfiguration('container_name')
-    container_name_full = (namespace, '/', container_name)
-    use_respawn = LaunchConfiguration('use_respawn')
-    log_level = LaunchConfiguration('log_level')
-
-    lifecycle_nodes = ['controller_server',
-                       'smoother_server',
-                       'planner_server',
-                       'behavior_server',
-                       'bt_navigator',
-                       'waypoint_follower',
-                       'velocity_smoother']
-
-    # Map fully qualified names to relative ones so the node's namespace can be prepended.
-    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
-    # https://github.com/ros/geometry2/issues/32
-    # https://github.com/ros/robot_state_publisher/pull/30
-    # TODO(orduno) Substitute with `PushNodeRemapping`
-    #              https://github.com/ros2/launch_ros/issues/56
-    remappings = [('/tf', 'tf'),
-                  ('/tf_static', 'tf_static'), ('/cmd_vel', '/nav2/cmd_vel')]
-
-    # Create our own temporary YAML files that include substitutions
-    param_substitutions = {
-        'use_sim_time': use_sim_time,
-        'autostart': autostart}
-
-    configured_params = ParameterFile(
-        RewrittenYaml(
-            source_file=params_file,
-            root_key=namespace,
-            param_rewrites=param_substitutions,
-            convert_types=True),
-        allow_substs=True)
-
-    stdout_linebuf_envvar = SetEnvironmentVariable(
-        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
-
-    declare_namespace_cmd = DeclareLaunchArgument(
-        'namespace',
-        default_value='',
-        description='Top-level namespace')
-
-    declare_use_sim_time_cmd = DeclareLaunchArgument(
-        'use_sim_time',
-        default_value='false',
-        description='Use simulation (Gazebo) clock if true')
-
-    declare_params_file_cmd = DeclareLaunchArgument(
-        'params_file',
-        default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
-        description='Full path to the ROS2 parameters file to use for all launched nodes')
-
-    declare_autostart_cmd = DeclareLaunchArgument(
-        'autostart', default_value='true',
-        description='Automatically startup the nav2 stack')
-
-    declare_use_composition_cmd = DeclareLaunchArgument(
-        'use_composition', default_value='False',
-        description='Use composed bringup if True')
-
-    declare_container_name_cmd = DeclareLaunchArgument(
-        'container_name', default_value='nav2_container',
-        description='the name of conatiner that nodes will load in if use composition')
-
-    declare_use_respawn_cmd = DeclareLaunchArgument(
-        'use_respawn', default_value='False',
-        description='Whether to respawn if a node crashes. Applied when composition is disabled.')
-
-    declare_log_level_cmd = DeclareLaunchArgument(
-        'log_level', default_value='info',
-        description='log level')
-
-    load_nodes = GroupAction(
-        condition=IfCondition(PythonExpression(['not ', use_composition])),
-        actions=[
-            Node(
-                package='nav2_controller',
-                executable='controller_server',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
-            Node(
-                package='nav2_smoother',
-                executable='smoother_server',
-                name='smoother_server',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings),
-            Node(
-                package='nav2_planner',
-                executable='planner_server',
-                name='planner_server',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings),
-            Node(
-                package='nav2_behaviors',
-                executable='behavior_server',
-                name='behavior_server',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings),
-            Node(
-                package='nav2_bt_navigator',
-                executable='bt_navigator',
-                name='bt_navigator',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings),
-            Node(
-                package='nav2_waypoint_follower',
-                executable='waypoint_follower',
-                name='waypoint_follower',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings),
-            Node(
-                package='nav2_velocity_smoother',
-                executable='velocity_smoother',
-                name='velocity_smoother',
-                output='screen',
-                respawn=use_respawn,
-                respawn_delay=2.0,
-                parameters=[configured_params],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings +
-                        [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
-            Node(
-                package='nav2_lifecycle_manager',
-                executable='lifecycle_manager',
-                name='lifecycle_manager_navigation',
-                output='screen',
-                arguments=['--ros-args', '--log-level', log_level],
-                parameters=[{'use_sim_time': use_sim_time},
-                            {'autostart': autostart},
-                            {'node_names': lifecycle_nodes}]),
-        ]
-    )
-
-    load_composable_nodes = LoadComposableNodes(
-        condition=IfCondition(use_composition),
-        target_container=container_name_full,
-        composable_node_descriptions=[
-            ComposableNode(
-                package='nav2_controller',
-                plugin='nav2_controller::ControllerServer',
-                name='controller_server',
-                parameters=[configured_params],
-                remappings=remappings + [('cmd_vel', 'cmd_vel_nav')]),
-            ComposableNode(
-                package='nav2_smoother',
-                plugin='nav2_smoother::SmootherServer',
-                name='smoother_server',
-                parameters=[configured_params],
-                remappings=remappings),
-            ComposableNode(
-                package='nav2_planner',
-                plugin='nav2_planner::PlannerServer',
-                name='planner_server',
-                parameters=[configured_params],
-                remappings=remappings),
-            ComposableNode(
-                package='nav2_behaviors',
-                plugin='behavior_server::BehaviorServer',
-                name='behavior_server',
-                parameters=[configured_params],
-                remappings=remappings),
-            ComposableNode(
-                package='nav2_bt_navigator',
-                plugin='nav2_bt_navigator::BtNavigator',
-                name='bt_navigator',
-                parameters=[configured_params],
-                remappings=remappings),
-            ComposableNode(
-                package='nav2_waypoint_follower',
-                plugin='nav2_waypoint_follower::WaypointFollower',
-                name='waypoint_follower',
-                parameters=[configured_params],
-                remappings=remappings),
-            ComposableNode(
-                package='nav2_velocity_smoother',
-                plugin='nav2_velocity_smoother::VelocitySmoother',
-                name='velocity_smoother',
-                parameters=[configured_params],
-                remappings=remappings +
-                [('cmd_vel', 'cmd_vel_nav'), ('cmd_vel_smoothed', 'cmd_vel')]),
-            ComposableNode(
-                package='nav2_lifecycle_manager',
-                plugin='nav2_lifecycle_manager::LifecycleManager',
-                name='lifecycle_manager_navigation',
-                parameters=[{'use_sim_time': use_sim_time,
-                             'autostart': autostart,
-                             'node_names': lifecycle_nodes}]),
-        ],
-    )
-
-    # Create the launch description and populate
-    ld = LaunchDescription()
-
-    # Set environment variables
-    ld.add_action(stdout_linebuf_envvar)
-
-    # Declare the launch options
-    ld.add_action(declare_namespace_cmd)
-    ld.add_action(declare_use_sim_time_cmd)
-    ld.add_action(declare_params_file_cmd)
-    ld.add_action(declare_autostart_cmd)
-    ld.add_action(declare_use_composition_cmd)
-    ld.add_action(declare_container_name_cmd)
-    ld.add_action(declare_use_respawn_cmd)
-    ld.add_action(declare_log_level_cmd)
-    # Add the actions to launch all of the navigation nodes
-    ld.add_action(load_nodes)
-    ld.add_action(load_composable_nodes)
-
-    return ld
diff --git a/deploy/ros2_nodes/sportmode_nav2/launch/navigation.launch.py b/deploy/ros2_nodes/sportmode_nav2/launch/navigation.launch.py
deleted file mode 100644
index 0df875a..0000000
--- a/deploy/ros2_nodes/sportmode_nav2/launch/navigation.launch.py
+++ /dev/null
@@ -1,146 +0,0 @@
-# Copyright (c) 2018 Intel Corporation
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-import os
-
-from ament_index_python.packages import get_package_share_directory
-
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
-from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
-from nav2_common.launch import RewrittenYaml
-
-
-def generate_launch_description():
-    # Get the launch directory
-    bringup_dir = get_package_share_directory('sportmode_nav2')
-
-    namespace = LaunchConfiguration('namespace')
-    use_sim_time = LaunchConfiguration('use_sim_time')
-    autostart = LaunchConfiguration('autostart')
-    params_file = LaunchConfiguration('params_file')
-    default_bt_xml_filename = LaunchConfiguration('default_bt_xml_filename')
-    map_subscribe_transient_local = LaunchConfiguration('map_subscribe_transient_local')
-
-    lifecycle_nodes = ['controller_server',
-                       'planner_server',
-                       'recoveries_server',
-                       'bt_navigator',
-                       'waypoint_follower']
-
-    # Map fully qualified names to relative ones so the node's namespace can be prepended.
-    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
-    # https://github.com/ros/geometry2/issues/32
-    # https://github.com/ros/robot_state_publisher/pull/30
-    # TODO(orduno) Substitute with `PushNodeRemapping`
-    #              https://github.com/ros2/launch_ros/issues/56
-    remappings = [('/tf', '/tf'),
-                  ('/tf_static', '/tf_static'),
-                  ('/cmd_vel', '/go2/cmd_vel')]
-
-    # Create our own temporary YAML files that include substitutions
-    param_substitutions = {
-        'use_sim_time': use_sim_time,
-        'default_bt_xml_filename': default_bt_xml_filename,
-        'autostart': autostart,
-        'map_subscribe_transient_local': map_subscribe_transient_local}
-
-    configured_params = RewrittenYaml(
-        source_file=params_file,
-        root_key=namespace,
-        param_rewrites=param_substitutions,
-        convert_types=True)
-
-    return LaunchDescription([
-        # Set env var to print messages to stdout immediately
-        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
-
-        DeclareLaunchArgument(
-            'namespace', default_value='',
-            description='Top-level namespace'),
-
-        DeclareLaunchArgument(
-            'use_sim_time', default_value='false',
-            description='Use simulation (Gazebo) clock if true'),
-
-        DeclareLaunchArgument(
-            'autostart', default_value='true',
-            description='Automatically startup the nav2 stack'),
-
-        DeclareLaunchArgument(
-            'params_file',
-            default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
-            description='Full path to the ROS2 parameters file to use'),
-
-        DeclareLaunchArgument(
-            'default_bt_xml_filename',
-            default_value=os.path.join(
-                get_package_share_directory('nav2_bt_navigator'),
-                'behavior_trees', 'navigate_w_replanning_and_recovery.xml'),
-            description='Full path to the behavior tree xml file to use'),
-
-        DeclareLaunchArgument(
-            'map_subscribe_transient_local', default_value='false',
-            description='Whether to set the map subscriber QoS to transient local'),
-
-        Node(
-            package='nav2_controller',
-            executable='controller_server',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
-
-        Node(
-            package='nav2_planner',
-            executable='planner_server',
-            name='planner_server',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
-
-        Node(
-            package='nav2_recoveries',
-            executable='recoveries_server',
-            name='recoveries_server',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
-
-        Node(
-            package='nav2_bt_navigator',
-            executable='bt_navigator',
-            name='bt_navigator',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
-
-        Node(
-            package='nav2_waypoint_follower',
-            executable='waypoint_follower',
-            name='waypoint_follower',
-            output='screen',
-            parameters=[configured_params],
-            remappings=remappings),
-
-        Node(
-            package='nav2_lifecycle_manager',
-            executable='lifecycle_manager',
-            name='lifecycle_manager_navigation',
-            output='screen',
-            parameters=[{'use_sim_time': use_sim_time},
-                        {'autostart': autostart},
-                        {'node_names': lifecycle_nodes}]),
-
-    ])
diff --git a/deploy/ros2_nodes/sportmode_nav2/params/mapping_async.yaml b/deploy/ros2_nodes/sportmode_nav2/params/mapping_async.yaml
deleted file mode 100644
index 926356e..0000000
--- a/deploy/ros2_nodes/sportmode_nav2/params/mapping_async.yaml
+++ /dev/null
@@ -1,73 +0,0 @@
-slam_toolbox:
-  ros__parameters:
-
-    # Plugin params
-    solver_plugin: solver_plugins::CeresSolver
-    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
-    ceres_preconditioner: SCHUR_JACOBI
-    ceres_trust_strategy: LEVENBERG_MARQUARDT
-    ceres_dogleg_type: TRADITIONAL_DOGLEG
-    ceres_loss_function: None
-
-    # ROS Parameters
-    odom_frame: odom
-    map_frame: map
-    base_frame: base_link # ToDo: add a base_footprint to the URDF
-    scan_topic: /go2/scan
-    mode: mapping #localization
-
-    # if you'd like to immediately start continuing a map at a given pose
-    # or at the dock, but they are mutually exclusive, if pose is given
-    # will use pose
-    #map_file_name: test_steve
-    # map_start_pose: [0.0, 0.0, 0.0]
-    #map_start_at_dock: true
-
-    debug_logging: false
-    throttle_scans: 1
-    transform_publish_period: 0.02 #if 0 never publishes odometry
-    map_update_interval: 5.0
-    resolution: 0.05
-    max_laser_range: 5.0 #for rastering images
-    minimum_time_interval: 0.5
-    transform_timeout: 0.2
-    tf_buffer_duration: 30.
-    stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps
-    enable_interactive_mode: true
-
-    # General Parameters
-    use_scan_matching: true
-    use_scan_barycenter: true
-    minimum_travel_distance: 0.5
-    minimum_travel_heading: 0.5
-    scan_buffer_size: 10
-    scan_buffer_maximum_scan_distance: 10.0
-    link_match_minimum_response_fine: 0.1  
-    link_scan_maximum_distance: 1.5
-    loop_search_maximum_distance: 3.0
-    do_loop_closing: true 
-    loop_match_minimum_chain_size: 10           
-    loop_match_maximum_variance_coarse: 3.0  
-    loop_match_minimum_response_coarse: 0.35    
-    loop_match_minimum_response_fine: 0.45
-
-    # Correlation Parameters - Correlation Parameters
-    correlation_search_space_dimension: 0.5
-    correlation_search_space_resolution: 0.01
-    correlation_search_space_smear_deviation: 0.1 
-
-    # Correlation Parameters - Loop Closure Parameters
-    loop_search_space_dimension: 8.0
-    loop_search_space_resolution: 0.05
-    loop_search_space_smear_deviation: 0.03
-
-    # Scan Matcher Parameters
-    distance_variance_penalty: 0.5      
-    angle_variance_penalty: 1.0    
-
-    fine_search_angle_offset: 0.00349     
-    coarse_search_angle_offset: 0.349   
-    coarse_angle_resolution: 0.0349        
-    minimum_angle_penalty: 0.9
-    minimum_distance_penalty: 0.5
-    use_response_expansion: true
diff --git a/scripts/run_mexplore.sh b/scripts/run_mexplore.sh
new file mode 100755
index 0000000..b1c506c
--- /dev/null
+++ b/scripts/run_mexplore.sh
@@ -0,0 +1,46 @@
+#!/bin/bash
+
+CONTAINER_NAME="go2py_mexplore"
+
+# Function to print usage
+function usage() {
+    echo "Usage: run_mexplore.sh"
+}
+
+# Function to check if docker command succeeded
+function check_docker() {
+    if [ $? -ne 0 ]; then
+        echo "Docker command failed. Please check your Docker installation."
+        exit 1
+    fi
+}
+
+# Prevent running as root
+if [ $(id -u) -eq 0 ]; then
+    echo "This script cannot be executed with root privileges."
+    echo "Please re-run without sudo and configure docker for non-root user if needed."
+    exit 1
+fi
+
+# Check if user can run docker without root
+if [[ ! $(groups $USER) =~ docker ]]; then
+    echo "User |$USER| is not a member of the 'docker' group and cannot run docker commands without sudo."
+    echo "Run 'sudo usermod -aG docker \$USER && newgrp docker' to add user to 'docker' group, then re-run this script."
+    echo "See: https://docs.docker.com/engine/install/linux-postinstall/"
+    exit 1
+fi
+
+# Check if able to run docker commands
+docker ps &>/dev/null
+check_docker
+
+# Check if the container is running
+if [ "$(docker ps -q -f name=$CONTAINER_NAME)" ]; then
+    echo "Attaching to running container: $CONTAINER_NAME"
+    docker exec -it --workdir /home/nav2_ws $CONTAINER_NAME /bin/bash 
+    check_docker
+else
+    echo "Starting new container: $CONTAINER_NAME"
+    sudo docker run -it --rm --name $CONTAINER_NAME --privileged --network host --ipc=host -v $(pwd)/deploy/ros2_nodes/m-explore-ros2:/home/explore_ws/src/m-explore-ros2 -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --workdir /home/explore_ws go2py_mexplore:latest  
+    check_docker
+fi
diff --git a/scripts/run_nav2.sh b/scripts/run_nav2.sh
index 6ed9a32..6df3834 100755
--- a/scripts/run_nav2.sh
+++ b/scripts/run_nav2.sh
@@ -41,6 +41,6 @@ if [ "$(docker ps -q -f name=$CONTAINER_NAME)" ]; then
     check_docker
 else
     echo "Starting new container: $CONTAINER_NAME"
-    sudo docker run -it --rm --name $CONTAINER_NAME --privileged --network host --ipc=host -v $(pwd)/deploy/ros2_nodes/sportmode_nav2:/home/nav2_ws/src/sportmode_nav2 -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro -v /home/unitree/Go2Py/deploy/SGNav/llm_planner:/home/llm_planner --runtime nvidia --workdir /home/nav2_ws go2py_nav2:latest  
+    sudo docker run -it --rm --name $CONTAINER_NAME --privileged --network host --ipc=host -v $(pwd)/deploy/ros2_nodes/sportmode_nav2:/home/nav2_ws/src/sportmode_nav2 -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro -v /home/unitree/Go2Py/deploy/SGNav/llm_planner:/home/llm_planner --workdir /home/nav2_ws go2py_nav2:latest  
     check_docker
 fi