diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
new file mode 100644
index 0000000..92caf46
--- /dev/null
+++ b/.github/CODEOWNERS
@@ -0,0 +1,2 @@
+* @wentywenty
+* @Luo1imasi
diff --git a/.github/ISSUE_TEMPLATE.md b/.github/ISSUE_TEMPLATE.md
new file mode 100644
index 0000000..113edd2
--- /dev/null
+++ b/.github/ISSUE_TEMPLATE.md
@@ -0,0 +1,34 @@
+---
+name: Bug / Issue
+about: 报告问题或提出需求 / Report a bug or request a feature
+labels: triage
+---
+
+<!-- 请勾选类型 / Check the issue type -->
+- [ ] 🔨 构建问题 Build issue（deb 编译失败、版本不一致 / compile fail, version mismatch）
+- [ ] 📦 APT 源问题 APT repo issue（同步失败 / sync fail, 403）
+- [ ] 🛠️ 新功能 / 新包请求 Feature request / new package
+
+## 环境 / Environment
+
+- 架构 Arch: [amd64 / arm64]
+- 系统 OS: [RobopiOS 1.0.6 / RobopiOS 1.2.7 / Ubuntu 22.04 / Ubuntu 24.04]
+- 包名和版本 Package & version: <!-- roboparty-navigation 1.0.0-1 -->
+
+## 现象 / What happened
+
+<!-- 发生了什么？截图/日志/命令输出 -->
+<!-- What went wrong? Screenshots, logs, command output -->
+
+## 复现步骤 / Steps to reproduce
+
+1.
+2.
+3.
+
+## 期望行为 / Expected behavior
+
+<!-- 你期望的正确结果 / What should happen instead -->
+
+> ⚠️ **禁止使用 AI 生成 Issues。AI 生成的 Issue 将被直接关闭。**
+> **Do not use AI to generate Issues. AI-generated issues will be closed immediately.**
diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
new file mode 100644
index 0000000..e0d5224
--- /dev/null
+++ b/.github/PULL_REQUEST_TEMPLATE.md
@@ -0,0 +1,33 @@
+---
+name: Pull Request
+about: 提交代码变更 / Submit a code change
+---
+
+<!-- 请勾选类型 / Check the PR type -->
+- [ ] 🐛 Bug fix 修复
+- [ ] ✨ New feature 新功能
+- [ ] 📦 Packaging 打包（debian/ 变更）
+- [ ] 📝 Docs 文档
+- [ ] 🔧 CI / workflow 变更
+
+## 变更说明 / Description
+
+<!-- 简述改了什么 / Briefly describe what this PR does -->
+
+## 版本检查 / Version check
+
+<!-- 如果这会影响包的版本，请确认 / Confirm if version is affected -->
+
+- [ ] 本次变更不需要改版本号 / This change does NOT bump version
+- [ ] 已更新 debian/changelog
+- [ ] 已同步 package.xml（仅 ROS 包 / ROS packages only）
+- [ ] changelog 和 package.xml 版本一致 / Versions match
+
+## 测试 / Testing
+
+- [ ] 构建通过 / Build passes: `dpkg-buildpackage -us -uc -b`
+- [ ] 已在 [amd64 / arm64] 上测试
+- [ ] 其他说明 / Notes:
+
+> ⚠️ **禁止使用 AI 生成 PR 描述。AI 生成的 PR 将被直接关闭。**
+> **Do not use AI to generate PR descriptions. AI-generated PRs will be closed immediately.**
diff --git a/.github/workflows/build-deb.yml b/.github/workflows/build-deb.yml
new file mode 100644
index 0000000..aa123a9
--- /dev/null
+++ b/.github/workflows/build-deb.yml
@@ -0,0 +1,204 @@
+name: Build RoboParty Navigation Deb Packages
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+permissions:
+  contents: write
+
+env:
+  ROS_DISTRO: ${{ vars.ROS_DISTRO || 'jazzy' }}
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - arch: amd64
+            os: ubuntu-24.04
+          - arch: arm64
+            os: [self-hosted, Linux, ARM64, "24.04"]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+        with:
+          submodules: false
+
+      - name: Checkout submodules
+        run: |
+          git submodule sync --recursive
+          for attempt in 1 2 3 4 5; do
+            if git submodule update --init --force --recursive --depth=1; then
+              exit 0
+            fi
+            echo "::warning::submodule checkout failed (attempt $attempt)"
+            git submodule deinit -f --all || true
+            sleep 15
+          done
+          echo "::error::submodule checkout failed after retries"
+          exit 1
+
+      - name: Version check (package.xml vs changelog)
+        run: |
+          PKG_XML_VERSION=$(grep -oP '<version>\K[^<]+' nav2_localization_adapter/package.xml)
+          CHANGELOG_VERSION=$(head -1 debian/changelog | grep -oP '\((.*?)\)' | tr -d '()' | cut -d'-' -f1)
+
+          echo "package.xml version: $PKG_XML_VERSION"
+          echo "changelog version:   $CHANGELOG_VERSION"
+
+          if [ "$PKG_XML_VERSION" != "$CHANGELOG_VERSION" ]; then
+            echo "::error::Version mismatch! package.xml=$PKG_XML_VERSION, changelog=$CHANGELOG_VERSION"
+            exit 1
+          fi
+
+          echo "✅ Version check passed: $PKG_XML_VERSION"
+
+      - name: Tag vs changelog version check
+        if: startsWith(github.ref, 'refs/tags/v')
+        run: |
+          TAG_VERSION="${GITHUB_REF#refs/tags/v}"
+          CHANGELOG_VERSION=$(head -1 debian/changelog | grep -oP '\((.*?)\)' | tr -d '()' | cut -d'-' -f1)
+
+          echo "Tag version:       $TAG_VERSION"
+          echo "Changelog version: $CHANGELOG_VERSION"
+
+          if [ "$TAG_VERSION" != "$CHANGELOG_VERSION" ]; then
+            echo "::error::Version mismatch! tag=v$TAG_VERSION, changelog=$CHANGELOG_VERSION"
+            exit 1
+          fi
+
+          echo "✅ Tag matches changelog: v$TAG_VERSION"
+
+      - name: Setup ROS 2
+        if: matrix.arch == 'amd64'
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTRO }}
+
+      - name: Add RoboParty APT source
+        run: |
+          keyring="/tmp/roboparty-archive-keyring-${GITHUB_RUN_ID}.gpg"
+          sources="/tmp/roboparty-apt-${GITHUB_RUN_ID}"
+          curl -fsSL https://apt.roboparty.com/roboparty.gpg | gpg --dearmor > "$keyring"
+          chmod 644 "$keyring"
+          rm -rf "$sources"
+          mkdir -p "$sources"
+          chmod 755 "$sources"
+          cp /etc/apt/sources.list.d/*.list "$sources"/ 2>/dev/null || true
+          cp /etc/apt/sources.list.d/*.sources "$sources"/ 2>/dev/null || true
+          if [ -s /etc/apt/sources.list ]; then
+            cp /etc/apt/sources.list "$sources/ubuntu.list"
+          fi
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=$keyring] https://apt.roboparty.com common main" > "$sources/roboparty.list"
+          chmod 644 "$sources"/* 2>/dev/null || true
+          echo "APT_OPTS=-o Dir::Etc::sourcelist=/dev/null -o Dir::Etc::sourceparts=$sources" >> "$GITHUB_ENV"
+
+      - name: Install build tools
+        run: |
+          sudo apt-get $APT_OPTS update -q
+          sudo apt-get $APT_OPTS install -y --no-install-recommends \
+            build-essential cmake ccache dpkg-dev debhelper devscripts \
+            git wget pkg-config python3-colcon-common-extensions \
+            libpcl-dev libeigen3-dev libceres-dev libfmt-dev libyaml-cpp-dev \
+            libboost-all-dev libapr1-dev python3-dev libpython3-dev \
+            python3-yaml python3-numpy \
+            ros-${ROS_DISTRO}-ament-cmake-auto ros-${ROS_DISTRO}-rclcpp \
+            ros-${ROS_DISTRO}-rclcpp-components ros-${ROS_DISTRO}-std-msgs \
+            ros-${ROS_DISTRO}-nav-msgs ros-${ROS_DISTRO}-sensor-msgs \
+            ros-${ROS_DISTRO}-geometry-msgs ros-${ROS_DISTRO}-visualization-msgs \
+            ros-${ROS_DISTRO}-std-srvs ros-${ROS_DISTRO}-tf2 \
+            ros-${ROS_DISTRO}-tf2-ros ros-${ROS_DISTRO}-tf2-geometry-msgs \
+            ros-${ROS_DISTRO}-pcl-ros ros-${ROS_DISTRO}-pcl-conversions \
+            ros-${ROS_DISTRO}-sophus ros-${ROS_DISTRO}-rosidl-default-generators \
+            ros-${ROS_DISTRO}-common-interfaces ros-${ROS_DISTRO}-rosbag2 \
+            ros-${ROS_DISTRO}-nav2-bringup ros-${ROS_DISTRO}-nav2-map-server \
+            ros-${ROS_DISTRO}-nav2-lifecycle-manager ros-${ROS_DISTRO}-nav2-msgs
+
+      - name: Download RoboParty SDK debs
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          out="/tmp/roboparty-debs-${GITHUB_RUN_ID}"
+          rm -rf "$out"
+          mkdir -p "$out"
+          chmod 755 "$out"
+          DEB_ARCH=$(dpkg --print-architecture) OUT_DIR="$out" python3 - <<'PY'
+          import json, os, pathlib, shutil, time, urllib.request
+
+          arch = os.environ["DEB_ARCH"]
+          out = pathlib.Path(os.environ["OUT_DIR"])
+          headers = {"Accept": "application/vnd.github+json"}
+          token = os.environ.get("GH_TOKEN")
+          if token:
+              headers["Authorization"] = f"Bearer {token}"
+
+          def download(url, dest):
+              for attempt in range(1, 6):
+                  try:
+                      with urllib.request.urlopen(url, timeout=90) as response, open(dest, "wb") as target:
+                          shutil.copyfileobj(response, target)
+                      return
+                  except Exception as exc:
+                      print(f"download failed (attempt {attempt}): {exc}")
+                      time.sleep(10)
+              raise RuntimeError(f"could not download {url}")
+
+          repos = {
+              "Roboparty/nlink_parser_ros2": "nlink-parser-ros2",
+              "Roboparty/livox_ros_driver2": "livox-ros-driver2",
+              "Roboparty/Livox-SDK2": "livox-sdk2",
+              "Roboparty/serial": "ros-jazzy-serial",
+          }
+          for repo, prefix in repos.items():
+              req = urllib.request.Request(
+                  f"https://api.github.com/repos/{repo}/releases/latest", headers=headers)
+              with urllib.request.urlopen(req, timeout=90) as response:
+                  data = json.load(response)
+              for asset in data.get("assets", []):
+                  name = asset["name"]
+                  if name.startswith(prefix) and name.endswith(f"_{arch}.deb"):
+                      print(f"download {name}")
+                      download(asset["browser_download_url"], out / name)
+          PY
+          chmod 644 "$out"/*
+
+      - name: Install RoboParty SDK debs
+        run: |
+          sudo apt-get $APT_OPTS install -y --no-install-recommends roboparty-base
+          sudo apt-get $APT_OPTS install -y /tmp/roboparty-debs-${GITHUB_RUN_ID}/*.deb
+
+      - name: Python syntax checks
+        run: |
+          python3 -m py_compile \
+            nav2_localization_adapter/scripts/*.py \
+            robots_localization_ros2/script/*.py
+
+      - name: Build deb packages
+        run: |
+          . /opt/ros/${ROS_DISTRO}/setup.sh
+          dpkg-buildpackage -us -uc -b
+          mv ../*.deb .
+          VERSION=$(dpkg-parsechangelog -S Version | cut -d'-' -f1 || echo "unknown")
+          echo "PKG_VERSION=$VERSION" >> $GITHUB_ENV
+
+      - name: Upload deb artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: roboparty-navigation-v${{ env.PKG_VERSION }}-${{ matrix.arch }}
+          path: "*.deb"
+
+      - name: Collect release files
+        if: startsWith(github.ref, 'refs/tags/v')
+        run: |
+          mkdir -p release
+          cp roboparty-localization_*.deb roboparty-navigation_*.deb release/
+
+      - name: Upload to GitHub Release
+        if: startsWith(github.ref, 'refs/tags/v')
+        uses: softprops/action-gh-release@v2
+        with:
+          files: release/*.deb
diff --git a/debian/changelog b/debian/changelog
new file mode 100644
index 0000000..72ef733
--- /dev/null
+++ b/debian/changelog
@@ -0,0 +1,10 @@
+roboparty-navigation (1.0.0-1) stable; urgency=medium
+
+  * Initial packaging.
+  * Split the runtime into roboparty-localization (FAST-LIO based
+    localization, no Nav2 dependency) and roboparty-navigation (Nav2
+    adapter).
+  * Keep both packages on the shared install prefix (default /opt/roboparty) so
+    roboparty-base/setup.bash discovers them automatically.
+
+ -- RoboParty <2321901849@qq.com>  Sat, 07 Nov 2026 00:00:00 +0800
diff --git a/debian/cmake/deps.cmake b/debian/cmake/deps.cmake
new file mode 100644
index 0000000..4b2ba2f
--- /dev/null
+++ b/debian/cmake/deps.cmake
@@ -0,0 +1,2 @@
+find_package(fmt REQUIRED)
+find_package(Boost REQUIRED COMPONENTS system thread)
diff --git a/debian/control b/debian/control
new file mode 100644
index 0000000..c5799d0
--- /dev/null
+++ b/debian/control
@@ -0,0 +1,78 @@
+Source: roboparty-navigation
+Section: misc
+Priority: optional
+Maintainer: RoboParty <2321901849@qq.com>
+Build-Depends: debhelper-compat (= 13),
+               cmake,
+               build-essential,
+               pkg-config,
+               python3,
+               python3-colcon-common-extensions,
+               python3-yaml,
+               libpcl-dev,
+               libeigen3-dev,
+               libceres-dev,
+               libfmt-dev,
+               libyaml-cpp-dev,
+               libboost-all-dev,
+               python3-dev,
+               libpython3-dev,
+               ros-jazzy-ament-cmake,
+               ros-jazzy-rclcpp,
+               ros-jazzy-rclcpp-components,
+               ros-jazzy-std-msgs,
+               ros-jazzy-nav-msgs,
+               ros-jazzy-sensor-msgs,
+               ros-jazzy-geometry-msgs,
+               ros-jazzy-visualization-msgs,
+               ros-jazzy-std-srvs,
+               ros-jazzy-tf2,
+               ros-jazzy-tf2-ros,
+               ros-jazzy-tf2-geometry-msgs,
+               ros-jazzy-pcl-ros,
+               ros-jazzy-pcl-conversions,
+               ros-jazzy-sophus,
+               ros-jazzy-rosidl-default-generators,
+               ros-jazzy-common-interfaces,
+               ros-jazzy-rosbag2,
+               livox-sdk2-dev,
+               livox-ros-driver2,
+               nlink-parser-ros2
+Standards-Version: 4.6.0
+
+Package: roboparty-localization
+Architecture: any
+Depends: ${shlibs:Depends},
+         ${misc:Depends},
+         roboparty-base (>= 1.0.0),
+         ros-jazzy-ros-base,
+         ros-jazzy-common-interfaces,
+         ros-jazzy-pcl-ros,
+         ros-jazzy-pcl-conversions,
+         ros-jazzy-tf2,
+         ros-jazzy-tf2-ros,
+         ros-jazzy-tf2-geometry-msgs,
+         ros-jazzy-rosidl-default-runtime,
+         livox-ros-driver2,
+         livox-sdk2,
+         nlink-parser-ros2
+Description: RoboParty LiDAR-inertial localization
+ FAST-LIO based localization for RoboParty robots, providing odometry,
+ point-cloud mapping and the robots_localization ROS 2 interface.
+ This package does not depend on Nav2.
+
+Package: roboparty-navigation
+Architecture: any
+Depends: ${shlibs:Depends},
+         ${misc:Depends},
+         roboparty-base (>= 1.0.0),
+         roboparty-localization (= ${binary:Version}),
+         ros-jazzy-nav2-bringup,
+         ros-jazzy-nav2-map-server,
+         ros-jazzy-nav2-lifecycle-manager,
+         ros-jazzy-nav2-msgs,
+         python3-yaml,
+         python3-numpy
+Recommends: ros-jazzy-rviz2
+Description: RoboParty Nav2 navigation stack
+ Nav2 adapter for RoboParty robots.
diff --git a/debian/copyright b/debian/copyright
new file mode 100644
index 0000000..bc04b65
--- /dev/null
+++ b/debian/copyright
@@ -0,0 +1,39 @@
+Format: https://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
+Upstream-Name: roboparty-navigation
+Source: https://github.com/Roboparty/roboparty_navigation
+Comment:
+ The localization implementation is derived from FAST-LIO2. The original
+ FAST-LIO2, ikd-Tree and IKFoM sources carry the copyright of The University
+ of Hong Kong and are distributed under GPL-2.0. The robot-specific history
+ was imported from gitee.com/hitcrt2019_session/rm_sentry_localization_2023.
+ The Nav2 adapter, site tooling and packaging are RoboParty work.
+
+Files: nav2_localization_adapter/*
+Copyright: 2026 Zhang-Yongqi
+License: GPL-3.0-or-later
+
+Files: robots_localization/*
+Copyright: 2019-2023 The University of Hong Kong
+           2022-2026 HIT CRT and RoboParty contributors
+License: GPL-2.0
+
+Files: debian/*
+Copyright: 2026 RoboParty
+License: GPL-3.0-or-later
+
+License: GPL-2.0
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+ .
+ On Debian systems, the complete text of the GNU General Public License
+ version 2 can be found in "/usr/share/common-licenses/GPL-2".
+
+License: GPL-3.0-or-later
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+ .
+ On Debian systems, the complete text of the GNU General Public License
+ version 3 can be found in "/usr/share/common-licenses/GPL-3".
diff --git a/debian/rules b/debian/rules
new file mode 100755
index 0000000..bda4013
--- /dev/null
+++ b/debian/rules
@@ -0,0 +1,79 @@
+#!/usr/bin/make -f
+
+SHELL := /bin/bash
+
+INSTALL_PREFIX ?= /opt/roboparty
+
+export DH_VERBOSE = 1
+export DEB_BUILD_MAINT_OPTIONS = optimize=-lto
+
+ROS_DISTRO ?= jazzy
+ROS_SETUP ?= /opt/ros/$(ROS_DISTRO)
+BUILD_ROOT := $(CURDIR)/build
+INSTALL_ROOT := $(CURDIR)/debian/colcon-install
+LOC_PKG := $(CURDIR)/debian/roboparty-localization
+NAV_PKG := $(CURDIR)/debian/roboparty-navigation
+
+%:
+	dh $@
+
+override_dh_auto_configure:
+	@true
+
+override_dh_auto_build:
+	# Do not bake the build host CPU into the package.
+	sed -i 's/ -march=native//g' robots_localization_ros2/CMakeLists.txt
+
+	. $(ROS_SETUP)/setup.bash && \
+	{ [ ! -f $(INSTALL_PREFIX)/setup.bash ] || . $(INSTALL_PREFIX)/setup.bash; } && \
+	colcon build \
+		--base-paths . \
+		--packages-up-to robots_localization nav2_localization_adapter \
+		--merge-install \
+		--build-base $(BUILD_ROOT)/colcon \
+		--install-base $(INSTALL_ROOT) \
+		--cmake-args \
+			-DCMAKE_BUILD_TYPE=Release \
+			-DCMAKE_PREFIX_PATH="$(INSTALL_PREFIX):$(ROS_SETUP)" \
+			-DCMAKE_PROJECT_INCLUDE=$(CURDIR)/debian/cmake/deps.cmake \
+			-DCMAKE_INSTALL_RPATH="$(INSTALL_PREFIX)/lib;$(ROS_SETUP)/lib" \
+			-DCMAKE_BUILD_RPATH="$(INSTALL_PREFIX)/lib;$(ROS_SETUP)/lib" \
+			-DSophus_INCLUDE_DIRS="$(ROS_SETUP)/include"
+
+override_dh_auto_test:
+	@true
+
+override_dh_auto_install:
+	install -d $(LOC_PKG)$(INSTALL_PREFIX)
+	cp -a $(INSTALL_ROOT)/. $(LOC_PKG)$(INSTALL_PREFIX)/
+
+	# Split navigation-owned files out of the localization package.
+	install -d $(NAV_PKG)$(INSTALL_PREFIX)/share $(NAV_PKG)$(INSTALL_PREFIX)/lib
+	mv $(LOC_PKG)$(INSTALL_PREFIX)/share/nav2_localization_adapter $(NAV_PKG)$(INSTALL_PREFIX)/share/
+	mv $(LOC_PKG)$(INSTALL_PREFIX)/lib/nav2_localization_adapter $(NAV_PKG)$(INSTALL_PREFIX)/lib/
+
+	# Move ament/colcon index entries for the navigation package.
+	for marker in \
+		share/ament_index/resource_index/packages/nav2_localization_adapter \
+		share/ament_index/resource_index/rosidl_interfaces/nav2_localization_adapter \
+		share/colcon-core/packages/nav2_localization_adapter; do \
+		if [ -e "$(LOC_PKG)$(INSTALL_PREFIX)/$$marker" ]; then \
+			install -D "$(LOC_PKG)$(INSTALL_PREFIX)/$$marker" "$(NAV_PKG)$(INSTALL_PREFIX)/$$marker"; \
+			rm -f "$(LOC_PKG)$(INSTALL_PREFIX)/$$marker"; \
+		fi; \
+	done
+
+	# The colcon prefix itself comes from roboparty-base; keep only the
+	# package-level local_setup files.
+	rm -f $(LOC_PKG)$(INSTALL_PREFIX)/setup.* \
+		$(LOC_PKG)$(INSTALL_PREFIX)/local_setup.* \
+		$(LOC_PKG)$(INSTALL_PREFIX)/_local_setup_util_*.py
+
+override_dh_auto_clean:
+	rm -rf $(BUILD_ROOT) $(INSTALL_ROOT)
+
+override_dh_shlibdeps:
+	dh_shlibdeps -- -l$(INSTALL_PREFIX)/lib --ignore-missing-info
+
+override_dh_missing:
+	@true