Worked on the utiasASRL/vtr3 repository to deliver lidar-enabled navigation and mapping by integrating Aeva lidar data into the VTR system. Developed a configuration-driven workflow using C++ and YAML, enabling ingestion and processing of Aeva lidar point clouds for robust perception tasks. Defined sensor parameters, frame transformations, and modular processing stages such as conversion, filtering, odometry, and localization to support experimentation and deployment. Focused on configuration management and embedded systems, the work established a preprocessing pipeline that allows flexible adaptation to different sensor setups. This integration enhanced the system’s ability to perform navigation and mapping using ROS2 and lidar processing techniques.