Map Bundle Format¶

This page specifies the map bundle (.nav): its layout, every file, every accepted key with its type, range and default, and the messages of the bundle check. It is a reference for people who build bundles. To load a finished bundle, see Load and Configure a Map; to make a bundle for your own site, see Create a Map from Your Site.

The frames map, odom, base_link and the camera's optical frame are explained in Localization and Navigation › Coordinate Frames.

Bundle Layout¶

site.nav/              optional top folder, any name
├── meta.yaml          map ID and a description of the grid
├── localizer.yaml     Localizer settings, including the point-cloud file
├── navigator.yaml     Navigator settings: robot size, speeds, tolerances
├── extrinsics.yaml    camera mounting on the robot
├── initial_pose.yaml  starting pose of the robot on the map
└── map/
    ├── MAP_ID.ply     3D point cloud of the site
    ├── MAP_ID.pgm     2D occupancy grid image
    └── MAP_ID.yaml    grid resolution, origin and thresholds

File	Read by
`meta.yaml`	Localizer and Navigator (the map ID)
`localizer.yaml`, `initial_pose.yaml`, `map/MAP_ID.ply`	Localizer
`navigator.yaml`	Navigator
`extrinsics.yaml`	Localizer and Visual odometry
`map/MAP_ID.pgm`, `map/MAP_ID.yaml`	Navigator and the map views

All eight files are required, and no other file is accepted. MAP_ID is the map_id of meta.yaml: the Localizer and the Navigator open the grid files by this name.
Archive: a gzip-compressed tar. The files sit at its root or in one top folder, which is dropped on upload. The file name does not change the format: site.nav and site.nav.tgz can be the same file. The Station page also accepts the bundle folder as a .tar or .zip archive; the CLI accepts only the gzip-compressed tar.
Limits: the archive and its unpacked contents at most 64 MiB each, each YAML file at most 1 MiB, at most 128 archive entries including folders.
Names: at most 160 characters of letters, digits, _, -, . and /; no hidden names (starting with .) and no links. Map files sit directly in map/ and end in .ply, .pgm or .yaml (.yml is refused).
YAML: plain mappings with unique keys; unknown keys are refused. Quote dates and times, and write exponents with a decimal point: 1.0e-6 is a number, 1e-6 is read as text.

Files¶

meta.yaml¶

Key	Type	Unit	Meaning	Example
`schema_version`	integer	—	Always `1`	`1`
`map_id`	text	—	Map name: letters, digits, `_`, `.`, `-`, starting with a letter, at most 64 characters	`warehouse`
`frame_id`	text	—	Map frame (default `map`)	`map`
`created`, `z_slice`	text, [min, max]	—, m	Optional: creation time (quoted) and the height band used for the grid	`[0.05, 0.65]`
`source`	mapping	—	Optional provenance: `ply` (a file name, not a path), `ply_sha256`, `points`, `bbox_min`, `bbox_max`	`ply: warehouse.ply`
`grid.image`, `grid.yaml`	text	—	`map/MAP_ID.pgm` and `map/MAP_ID.yaml`	`map/warehouse.pgm`
`grid.width`, `grid.height`	integer	cells	Exactly the size of the PGM	`500`, `620`
`grid.resolution`	number	m/cell	Exactly the `resolution` of the grid YAML	`0.05`
`grid.origin`	[x, y, yaw]	m, m, rad	Exactly the `origin` of the grid YAML	`[-12.5, -12.5, 0.0]`
`tool`, `solid_footprints`, `grid.min_points`, `grid.padding`, `grid.mark_unknown`, `grid.points_in_slice`, `grid.occupied_cells`, `grid.unknown_cells`	any	—	Optional, informational

schema_version: 1
map_id: warehouse
created: '2026-01-15T09:00:00Z'
z_slice: [0.05, 0.65]
grid:
  image: map/warehouse.pgm
  yaml: map/warehouse.yaml
  resolution: 0.05
  width: 500
  height: 620
  origin: [-12.5, -12.5, 0.0]

Occupancy Grid: map/MAP_ID.yaml and map/MAP_ID.pgm¶

The grid uses the standard occupancy-grid map format: a gray image and a YAML file with exactly these six keys (a key such as mode is refused).

Key	Type	Unit	Meaning	Example
`image`	text	—	File name of the PGM, without a folder	`warehouse.pgm`
`resolution`	number	m/cell	Cell size, 0.001 to 100	`0.05`
`origin`	[x, y, yaw]	m, m, rad	Lower-left corner of the image in `map`; keep yaw at `0.0`	`[-12.5, -12.5, 0.0]`
`negate`	0 or 1	—	`1` inverts the gray values	`0`
`occupied_thresh`, `free_thresh`	number	0 to 1	Occupancy above the first is an obstacle, below the second is free; `free_thresh` must be lower	`0.65`, `0.196`

image: warehouse.pgm
resolution: 0.05
origin: [-12.5, -12.5, 0.0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

Image: binary P5 or ASCII P2 PGM, maximum value 255, at most 16 million pixels. After the header, a P5 file holds exactly width × height bytes.
Values: the occupancy of a pixel is (255 − value) / 255 with negate: 0. With the thresholds above, write 0 for obstacles, 254 for free floor and 205 for unknown space.
Rows: row 0 is the top of the map, the largest y. The pixel in column c and row r of an image height rows tall is the cell centered at x = origin_x + (c + 0.5) × resolution, y = origin_y + (height − r − 0.5) × resolution. The warehouse grid, 500 × 620 cells of 0.05 m, covers x from −12.5 m to 12.5 m and y from −12.5 m to 18.5 m.

Point Cloud: map/MAP_ID.ply¶

Format: format binary_little_endian 1.0 (recommended) or format ascii 1.0, with an ASCII header in LF line endings that ends in end_header.
Contents: one element vertex with 1 to 2,000,000 points. The properties are x, y, z (required), nx, ny, nz and red, green, blue (optional), each of type float, double or uchar (also written float32, float64, uint8). comment lines are allowed; faces, other elements or properties (alpha, intensity, scalar fields) and lines such as obj_info are refused. The warehouse header has element vertex 1405083, then property float x, y, z, nx, ny, nz and property uchar red, green, blue.
Values: meters in the map frame, finite and at most 1,000,000 in magnitude. Normals, when present, must not be zero. Colors are optional (uchar 0 to 255 or float 0 to 1); without them the Localizer matches geometry only.
Size: binary float coordinates with normals and colors take 27 bytes per point, so 2 million points use about 54 MB of the 64 MiB limit. Use float, not double.

extrinsics.yaml¶

Key	Type	Unit	Meaning	Example
`camera_frame_id`	text	—	The camera's optical frame: the `frame_id` in the camera node's CAMERA SETTINGS, at most 15 characters. Required by the Localizer.	`cam0_optical`
`edges`	list	—	1 to 32 fixed transforms; a frame is the `child` of one edge at most
`parent`, `child`	text	—	Frame names	`base_link`, `cam0_optical`
`xyz`	[x, y, z]	m	Position of the child in the parent frame	`[0.22, 0.0, 0.468]`
`quat`	[x, y, z, w]	—	Orientation of the child in the parent frame; the squares sum to 1 within 0.01	`[-0.5, 0.5, -0.5, 0.5]`

camera_frame_id: cam0_optical
edges:
  - parent: base_link
    child: cam0_optical
    xyz: [0.22, 0.0, 0.468]       # 0.22 m ahead of base_link, 0.468 m above the floor
    quat: [-0.5, 0.5, -0.5, 0.5]  # level, looking forward

Rotations are written only as quat in the order [x, y, z, w]; an edge with rpy is refused. Edges may form a chain, for example base_link → mast → cam0_optical, but no loop, and they must connect the camera frame to base_link. For a camera that looks forward, tilted down by θ, quat = [-a, a, -b, b] with a = (cos(θ/2) + sin(θ/2)) / 2 and b = (cos(θ/2) − sin(θ/2)) / 2:

Tilt θ	0° (level)	10°	20°	30°
`quat`	`[-0.5, 0.5, -0.5, 0.5]`	`[-0.5417, 0.5417, -0.4545, 0.4545]`	`[-0.5792, 0.5792, -0.4056, 0.4056]`	`[-0.6124, 0.6124, -0.3536, 0.3536]`

initial_pose.yaml¶

Key	Type	Unit	Meaning	Example
`x`, `y`	number	m	Position of `base_link` (not the camera) in `map`	`-1.5984`, `2.3881`
`yaw`	number	rad, −π to π	Heading; `0` faces the +x axis of the map	`0.0`

x: -1.5984
y: 2.3881
yaw: 0.0

The Localizer uses this pose only when it has no confirmed pose on the bundle's map_id, so give a changed map a new map_id (Load and Configure a Map › Start and Set the Initial Pose).

localizer.yaml¶

Only map.file is required; a key you leave out keeps its default. An excerpt of the warehouse file:

map:
  file: map/warehouse.ply
  voxel_size: 0.05
icp:
  device: CPU:0
  lambda: 1.0
  max_correspondence_dist: 0.12
  max_iterations: 20
sensor: {depth_min: 0.3, depth_max: 10.0}
status: {degrade_after_s: 5.0, lost_after_s: 60.0, accept_streak: 1}
publish:
  obstacles: {z_min: 0.08, z_max: 0.65}

Map and Frames¶

Key	Default	Meaning
`map.file`	required	The point cloud, `map/MAP_ID.ply`. It changes only with a new bundle.
`map.voxel_size`	`0.05` m	The cell size that the map and the camera points are reduced to
`frames.map`, `frames.odom`, `frames.base`	`map`, `odom`, `base_link`	Frame names; keep the defaults, which the Navigator also uses

Matching¶

Key	Default	Meaning
`icp.planar`	`true`	Estimate x, y and yaw only (wheeled robots); `false` also estimates height, roll and pitch (walking robots)
`icp.device`	`CPU:0`	`CPU:0`, or `CUDA:0` for a GPU
`icp.rate_hz`	`10` Hz	Localization rate
`icp.max_iterations`	`50`	Iterations per camera frame
`icp.lambda`	`0.968`	Weight of geometry against color, 0 to 1; `1.0` matches geometry only
`icp.max_correspondence_dist`	`0.1` m	Match distance while tracking
`icp.init_max_correspondence_dist`	`0.3` m	Match distance while initializing or relocalizing
`icp.min_fitness`	`0.3`	A pose is accepted when at least this share of camera points matches the map…
`icp.max_rmse`	`0.05` m	…within this fit error
`icp.max_jump_m`, `icp.max_jump_rad`	`1.0` m, `0.5` rad	Largest accepted correction against the odometry prediction
`icp.deg_ratio`, `icp.deg_min_info`, `icp.deg_threshold`	`0.05`, `5.0`, `0`	Handling of directions the view cannot observe, such as along a corridor

Advanced matching. Keep these at their defaults: icp.max_solve_points 0, icp.robust_delta 0, icp.relative_fitness 1.0e-6, icp.relative_rmse 1.0e-6, icp.min_structural_fitness 0, icp.rmse_growth_factor 1.05, icp.sigma_depth 0.01, icp.cov_inflation 4.0, icp.recovery_radius_m 0.4, icp.recovery_yaw_rad 0.5.

Camera Points¶

Key	Default	Meaning
`sensor.depth_min`, `sensor.depth_max`	`0.2` m, `6.0` m	Depth range of the camera points used

Localization Status¶

Key	Default	Meaning
`status.accept_streak`, `status.init_min_fitness`	`3`, `0.7`	Accepted fits in a row, each with at least this fitness, needed to become Healthy (`localized`)
`status.degrade_after_s`, `status.lost_after_s`	`2.0` s, `10.0` s	Time without an accepted fit before Degraded (`degraded`) and before Lost (`lost`)
`status.degrade_fitness`	`0.5`	Fitness below which the state degrades
`status.clock_skew_ms`	`200` ms	Largest camera-to-odometry lag
`status.odometry_stale_s`	`3.0` s	Odometry silence before the input reconnects

Recovery After Lost¶

Key	Default	Meaning
`recovery.auto_reseed`	`true`	After Lost, retry automatically around the last confirmed pose
`recovery.lost_wait_s`, `recovery.attempts`, `recovery.attempt_timeout_s`, `recovery.spacing_s`	`3.0` s, `5`, `5.0` s, `1.0` s	Schedule of the retries
`recovery.radius_step_m`, `recovery.max_radius_m`, `recovery.yaw_jitter_rad`	`0.3` m, `1.0` m, `0.17` rad	Search area of the retries

Outputs and Live Obstacles¶

Key	Default	Meaning
`publish.pose_hz`, `publish.status_hz`, `publish.obstacles_hz`	`20`, `1`, `10` Hz	Output rates
`publish.obstacles.z_min`, `publish.obstacles.z_max`	`0.10` m, `0.30` m	Height band above the floor whose camera points mark live obstacles for the Navigator
`publish.obstacles.ground_relative`	`false`	`true` measures the band from the floor seen in each image
`publish.obstacles.size_cells`, `publish.obstacles.resolution`	`48`, `0.05` m	Live obstacle grid around the robot, at most 48 × 48 cells
`publish.obstacles.decay_s`	`2.0` s	How long a mark lasts

Odometry Input and Global Search¶

Key	Default	Meaning
`odometry.frame_policy`	`match`	`match` uses only odometry from `odom` to `base_link`; `any` accepts a single source under any frame names
`odometry.recovery`	`auto`	Keep `auto`
`odometry.source`	empty	Empty follows the node connected to the Localizer's `odometry` port
`global_search.*`	see meaning	Grid of the `localization.global_search_*` tools: `xy_step_m` 1.0, `yaw_step_deg` 15, `coarse_radius_m` 1.2, `sample_radius_m` 6.0, `timeout_s` 120, `max_candidates` 100000, `shortlist` 32, `ambiguity_margin` 0.08

navigator.yaml¶

The sections are bt_navigator, planner_server, controller_server, local_costmap, global_costmap, behavior_server, velocity_smoother and navigator; section and key names follow Nav2 conventions. An excerpt of the warehouse file:

controller_server:
  general_goal_checker: {xy_goal_tolerance: 0.1, yaw_goal_tolerance: 0.1}
  FollowPath: {desired_linear_vel: 0.3, max_angular_vel: 0.5}
local_costmap:
  global_frame: odom
  rolling_window: true
  width: 4
  height: 4
  robot_radius: 0.34
  inflation_layer: {inflation_radius: 0.6}
global_costmap: {global_frame: map, robot_radius: 0.34}
velocity_smoother:
  max_velocity: [0.3, 0.0, 0.5]
  min_velocity: [-0.2, 0.0, -0.5]
navigator: {drive: diff}

Write the complete file. Start from the navigator.yaml of a working bundle, such as the warehouse example of Navigate in Simulation, and change values only. A key you leave out falls back to a built-in value that may not suit your robot; without robot_radius the Navigator does not start.
Text values are fixed: frame names, plugin entries and plugin lists keep their values. The one choice is navigator.drive: diff or holonomic.
Numbers are 0 to 1,000,000, except the entries of min_velocity and max_decel, which may be negative. Velocity lists have three entries: [x m/s, y m/s, yaw rad/s].
Robot size is a circle, robot_radius; a polygon footprint is refused.

The Template column lists the values of the reference navigator configuration, which defines the accepted keys. They are a starting point for your own values, not the built-in values used for a key you leave out.

Robot Size and Costmaps¶

Key	Template	Meaning
`local_costmap.robot_radius`, `global_costmap.robot_radius`	`0.42` m	Radius around `base_link` that covers the robot; required, the same value in both
`.inflation_layer.inflation_radius`, `.inflation_layer.cost_scaling_factor`	`0.75` m, `3.0`	Distance from obstacles within which paths cost more, and how fast that cost falls off
`local_costmap.width`, `local_costmap.height`, `local_costmap.resolution`	`6` m, `6` m, `0.05` m	Size and cell size of the local window around the robot; the global costmap follows the grid's resolution
`.obstacle_layer.enabled`, `.obstacle_layer.decay_s`	`true`; `2.0` s local, `10.0` s global	Add the Localizer's live obstacles, and how long they are kept

Planning¶

Key	Template	Meaning
`planner_server.GridBased.tolerance`	`0.5` m	How far from a blocked goal a path may end
`planner_server.GridBased.allow_unknown`	`true`	Plan through unknown cells
`planner_server.GridBased.use_astar`	`false`	A* instead of Dijkstra

Path Following¶

Key	Template	Meaning
`controller_server.controller_frequency`	`20.0` Hz	Control rate
`controller_server.FollowPath.desired_linear_vel`, `controller_server.FollowPath.max_angular_vel`	`1.2` m/s, `0.825` rad/s	Cruise speed and turn rate limit
`controller_server.FollowPath.lookahead_dist`, `min_lookahead_dist`, `max_lookahead_dist`	`1.5`, `0.6`, `1.8` m	Look-ahead distance on the path
`controller_server.FollowPath.use_rotate_to_heading`, `rotate_to_heading_min_angle`	`true`, `0.785` rad	Turn in place toward the path when the heading error exceeds this angle
`controller_server.FollowPath.allow_reversing`	`false`	Drive backwards along the path
`controller_server.FollowPath.use_holonomic_lateral`, `max_lateral_vel`	`false`, `0.2` m/s	Move sideways (with `navigator.drive: holonomic`)

Goals and Progress¶

Key	Template	Meaning
`controller_server.general_goal_checker.xy_goal_tolerance`, `yaw_goal_tolerance`	`0.25` m, `0.25` rad	Arrival tolerance
`controller_server.progress_checker.required_movement_radius`, `movement_time_allowance`	`0.5` m, `10.0` s	The robot must move this far within this time, or recovery starts

Velocity Limits and Recovery Moves¶

Key	Template	Meaning
`velocity_smoother.max_velocity`, `velocity_smoother.min_velocity`	`[1.2, 0, 0.825]`, `[-0.1, 0, -0.825]`	Velocity limits
`velocity_smoother.max_accel`, `velocity_smoother.max_decel`	`[0.25, 0, 1.2]`, `[-0.5, 0, -1.6]`	Acceleration limits; deceleration entries are 0 or less
`behavior_server.spin.angle`	`1.5708` rad	Turn of the spin recovery
`behavior_server.backup.distance`, `behavior_server.backup.speed`	`0.15` m, `0.1` m/s	Back-up recovery
`behavior_server.wait.duration`	`2.0` s	Wait recovery

Navigator Node¶

Key	Template	Meaning
`navigator.drive`	`diff`	`diff` (differential and skid steer) or `holonomic`
`navigator.require_base_ready`	`true`	Accept goals only while the base is enabled, free of faults and in twist mode
`navigator.odom_max_age_s`, `navigator.localization_max_age_s`	`0.5` s, `1.0` s	Stop when odometry or the map pose is older than this
`navigator.recovery_rounds`	`2`	Recovery rounds before a goal fails
`navigator.replan_period_s`	`1.0` s	How often the route is checked and replanned when blocked
`navigator.preempt_on_new_goal`	`true`	A new goal replaces the active one; `false` refuses it as busy

Validation Errors¶

KEY stands for the path of a setting, for example localizer.icp.max_rmse or extrinsics.edges.0.

Message	Cause	Fix
`Use a gzip .nav archive no larger than 64 MiB.`, `Navigation data exceeds 64 MiB.`, `Expanded navigation archive exceeds 65 MiB.`	Not gzip-compressed (zip, plain tar), or too large, packed or unpacked	Pack with `tar -czf`; fewer points, `float` instead of `double`
`Malformed navigation archive.`, `Incomplete navigation archive.`, `Archive metadata exceeds supported bounds.`	The archive is damaged or cut short, or its tar headers are too large	Pack the folder again with `tar -czf` and copy the whole file
`Unsafe, duplicate or unsupported navigation archive member.`	A `./` entry, hidden name, link, unsupported character, name over 160 characters or more than 128 entries	Pack the folder by name; remove hidden files and links
`A .nav bundle needs meta, localizer, navigator, extrinsics and initial_pose YAML files.`	A YAML file is missing, or the files sit in more than one top folder	Add the file; use one top folder
`Navigation bundles accept only their five YAML documents and map PLY/PGM/YAML data.`, `Include exactly the referenced PLY, PGM and occupancy YAML map files.`	An extra or unreferenced file, a `.yml` or upper-case extension, or a folder inside `map/`	Remove it, or fix the reference
`The localizer must reference a PLY contained in map/.`, `Metadata grid references must identify bundled map data.`	`map.file`, `grid.image` or `grid.yaml` does not name a bundled file	Use `map/MAP_ID.ply`, `map/MAP_ID.pgm`, `map/MAP_ID.yaml`
`Metadata grid dimensions, resolution and origin must match its occupancy data.`	`meta.yaml` differs from the PGM size or the grid YAML	Copy the values exactly
`Occupancy image or threshold values are inconsistent.`	The grid YAML `image` names another file, or `free_thresh` is not below `occupied_thresh`	Fix the name (no folder) or the thresholds
`map: unknown or missing fields.`	The grid YAML has an extra key such as `mode`, or lacks one	Use exactly the six keys
`Use a P2/P5 PGM with at most 16 million pixels and maximum 255.`, `PGM pixel count does not match its dimensions.`	Not an 8-bit PGM, too many pixels, or missing or extra bytes	Save an 8-bit P5 PGM
`Invalid PGM header.`, `Invalid PGM comment.`, `Invalid PGM dimensions.`, `Missing PGM pixels.`, `Invalid PGM pixels.`	A damaged header, a comment line without a line end, a width or height that is not a number, no pixel data, or a P2 pixel value outside 0 to 255	Save the grid again as an 8-bit P5 PGM
`PLY must contain only point vertices, optional normals and RGB.`, `PLY requires XYZ and 1–2 million points.`, `Duplicate PLY property.`, `Invalid PLY point count.`	Faces, other elements or properties, an `obj_info` line, a property listed twice, no x, y, z, a point count that is not a number, or too many points	Export points only, with supported properties; downsample
`PLY requires a bounded LF header.`, `PLY point data length is inconsistent.`	CRLF line endings, or point data that does not match the header	Export again with LF line endings
`PLY header must be ASCII.`, `Use ASCII or little-endian binary PLY 1.0.`	Characters other than ASCII in the header, or another format such as `binary_big_endian`	Export a binary little-endian (or ASCII) PLY
`PLY point count is inconsistent.`, `PLY point data must be ASCII.`, `Invalid PLY point value.`, `PLY points must contain finite bounded values.`	An ASCII PLY whose number of lines differs from `element vertex`, or that holds text that is not a number; a point with missing or extra values, NaN, infinity or a value beyond ±1,000,000	Export again; remove invalid points
`Use plain YAML data types.`, `Each YAML document must be a mapping.`, `Invalid YAML document.`	An unquoted date or time (for example in `created`), an empty file or a syntax error	Quote dates and times; fix the file
`A YAML member exceeds 1 MiB.`	A YAML file larger than 1 MiB	Keep each YAML file under 1 MiB
`YAML keys must be unique strings.`	A key written twice in one mapping, or a key that is not text, such as a number	Write each key once, as text
`Use finite bounded numbers.`	`.inf`, `.nan` or a number beyond ±1,000,000,000	Use the ranges on this page
`Configuration nesting or aliases exceed supported bounds.`, `Configuration text exceeds supported bounds.`	YAML nested more than 20 levels deep or with more than 20,000 values, an alias that refers to itself, or a text value over 1,024 characters or with control characters such as tabs	Write plain YAML
`KEY: number outside supported bounds.`	A value out of range, or a number read as text, such as `1e-6`	Use the ranges on this page; write `1.0e-6`
`KEY: unknown or missing fields.`	A misspelled or unsupported key, such as `rpy` in an edge or `footprint` in a costmap	Use only the keys on this page
`KEY: unsupported value.`	A fixed text value changed, `negate` other than 0 or 1, or an unknown `drive`	Restore the value
`KEY: expected boolean.`	A setting that takes `true` or `false` has another value, such as `1`	Write `true` or `false`
`KEY: invalid text.`, `KEY: invalid list length.`	A name with unsupported characters or not starting with a letter; a list with the wrong number of entries	Use letters, digits, `_`, `.` and `-`; 3 entries for `xyz`, `origin` and velocities, 4 for `quat`
`Calibration edges require unique children and unit quaternions.`, `Calibration frames must not contain a cycle.`	A frame is the child of two edges, a parent equals its child, `quat` is not unit length, or the edges form a loop	One edge per child, chained from `base_link`; normalize `quat`
`Minimum depth must be below maximum depth.`, `Lost timeout must follow degraded timeout.`, `Obstacle height bounds are inverted.`	An inconsistent pair of values	Correct the pair
`Navigation metadata requires schema_version: 1.`, `Unknown navigation metadata field.`, `Metadata source.ply must be a filename, not a path.`	Wrong version, an unknown key or a folder in `meta.yaml`	Use the keys above; write file names only
`Metadata must describe its occupancy grid.`, `Metadata provenance must not contain local paths or private platform details.`	`meta.yaml` has no `grid`, or an unknown key under `grid` or `source`	Use only the keys of meta.yaml
`Read the current navigation SHA-256 before applying a map.`	The SHA-256 is out of date	Run `sodero navigation get` again
`Use the matching document extension, node ID, current SHA-256 and execute flag.`	The CLI file name does not end in `.nav`	Rename the file, for example to `site.nav`
`… the file name must end with .tar.gz or .tgz or .tar or .zip`	A `.nav` file name on the Station page	Rename the file to `site.nav.tgz`
`the localizer is running — stop it before replacing its bundle`	Upload on the Station page while the Localizer runs	Stop the Localizer

Two problems appear only when the Localizer starts, in its log (sodero runtime logs sodero.localizer): camera_frame_id is required when extrinsics.yaml has no camera_frame_id, and no_extrinsics_edge when no edge connects the camera node's frame_id to base_link.

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