Contributed to the WATonomous/humanoid repository by architecting a modular ROS 2 navigation stack, including a refactored navigation architecture with new Map Server, Planner, and State Machine nodes to improve maintainability and scalability. Developed a ROS 2-based costmap module that processes sensor data into occupancy grids, enabling robust robot navigation. Enhanced the development environment by streamlining Docker workflows and onboarding scripts, focusing on reliability and ease of setup. Improved the watod script’s user experience and documentation, addressing option handling and verbose output. Work emphasized C++, CMake, and Docker, demonstrating a methodical approach to software architecture and developer workflow stability.