diff --git a/.gitmodules b/.gitmodules
index cb7af4c3..941bb121 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -21,3 +21,7 @@
 	path = external/articubot_one
 	url = https://github.com/joshnewans/articubot_one.git
 	branch = humble
+[submodule "external/vectornav"]
+	path = external/vectornav
+	url = https://github.com/dawonn/vectornav.git
+	branch = ros2
diff --git a/documents/installation/vectornav_imu.md b/documents/installation/vectornav_imu.md
new file mode 100644
index 00000000..0a61dd84
--- /dev/null
+++ b/documents/installation/vectornav_imu.md
@@ -0,0 +1,62 @@
+# Launch Instructions for VectorNav with Permission Issues
+
+This document explains how to resolve permission issues for serial devices (like `/dev/ttyUSB0`) and launch the VectorNav package on Linux.
+
+## Prerequisites
+
+1. **Install Necessary Packages**: Ensure all required packages are installed in your workspace and that the workspace is correctly sourced.
+   
+2. **Device Permissions**: You’ll need permission to access the device files (e.g., `/dev/ttyUSB0`).
+
+## Steps
+
+### Step 1: Check Device Permissions
+
+1. First, identify the device port:
+   ```bash
+   ls /dev/ttyUSB*
+   ```
+2. Verify your user has permission to access the device. If you see an error or permission denied, proceed with the steps below.
+
+### Step 2: Add User to the `dialout` Group
+
+The `dialout` group typically has access to serial devices. Add your user to this group:
+
+```bash
+sudo usermod -aG dialout $USER
+```
+
+**Note**: Log out and log back in for the group change to take effect. Alternatively, you can restart the system to apply these changes immediately.
+
+### Step 3: Verify Permissions
+
+After re-logging or rebooting, check that you have read and write permissions on the device:
+
+```bash
+ls -l /dev/ttyUSB0
+```
+
+If permissions are set correctly, the output should show that `dialout` has `rw` (read/write) access for `/dev/ttyUSB0`.
+
+### Step 4: Launch VectorNav
+
+Source your ROS workspace, then launch the VectorNav nodes with the appropriate configurations:
+
+```bash
+source ~/Documents/urc/rover-colcon/install/setup.bash
+ros2 launch vectornav vectornav.launch.py
+```
+
+**Note**: Replace the workspace path with the correct path if it’s different on your system.
+
+### Troubleshooting
+
+If you continue to experience issues with permissions, consider checking `dmesg` logs to ensure the device is recognized:
+
+```bash
+dmesg | grep ttyUSB
+```
+
+This command shows messages related to the USB connection and may help diagnose connectivity issues.
+
+--- 
diff --git a/external/vectornav b/external/vectornav
new file mode 160000
index 00000000..2859fe18
--- /dev/null
+++ b/external/vectornav
@@ -0,0 +1 @@
+Subproject commit 2859fe18a3c4a5e6d3dafcef9923df9a854a2660
diff --git a/urc_bringup/launch/bringup.launch.py b/urc_bringup/launch/bringup.launch.py
index 8f0d6f7d..f1edf1e8 100644
--- a/urc_bringup/launch/bringup.launch.py
+++ b/urc_bringup/launch/bringup.launch.py
@@ -29,6 +29,8 @@ def generate_launch_description():
     )
     pkg_urc_platform = get_package_share_directory("urc_platform")
 
+    pkg_vectornav = get_package_share_directory("vectornav")
+
     controller_config_file_dir = os.path.join(
         pkg_urc_bringup, "config", "controller_config.yaml"
     )
@@ -67,7 +69,7 @@ def generate_launch_description():
     load_joint_state_broadcaster = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["-p", controller_config_file_dir, "joint_state_broadcaster"],
+        arguments=["-p", controller_config_file_dir, "joint_state_broadcaster"]
     )
 
     load_drivetrain_controller = Node(
@@ -79,27 +81,9 @@ def generate_launch_description():
     load_status_light_controller = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["-p", controller_config_file_dir, "status_light_controller"],
+        arguments=["-p", controller_config_file_dir, "status_light_controller"]
     )
 
-    # load_arm_controller = Node(
-    #     package="controller_manager",
-    #     executable="spawner",
-    #     arguments=["-p", controller_config_file_dir, "arm_controller"],
-    # )
-
-    # load_gripper_controller_left = Node(
-    #     package="controller_manager",
-    #     executable="spawner",
-    #     arguments=["-p", controller_config_file_dir, "gripper_controller_left"],
-    # )
-
-    # load_gripper_controller_right = Node(
-    #     package="controller_manager",
-    #     executable="spawner",
-    #     arguments=["-p", controller_config_file_dir, "gripper_controller_right"],
-    # )
-
     twist_mux_node = Node(
         package="urc_platform",
         executable="urc_platform_TwistMux",
@@ -109,16 +93,22 @@ def generate_launch_description():
     launch_gps = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(
-                pkg_nmea_navsat_driver, "launch", "nmea_serial_driver.launch.py"
+                pkg_nmea_navsat_driver,
+                "launch", "nmea_serial_driver.launch.py"
             )
         )
     )
 
     launch_gps = Node(
-        package="nmea_navsat_driver",
-        executable="nmea_serial_driver",
-        output="screen",
-        parameters=[gps_config],
+        package='nmea_navsat_driver',
+        executable='nmea_serial_driver',
+        output='screen',
+        parameters=[gps_config])
+
+    launch_vectornav = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_vectornav, "launch", "vectornav.launch.py")
+        )
     )
 
     rosbridge_server_node = Node(
@@ -138,7 +128,8 @@ def generate_launch_description():
     )
 
     odom_frame_node = Node(
-        package="urc_tf", executable="urc_tf_WorldFrameBroadcaster", output="screen"
+        package="urc_tf", executable="urc_tf_WorldFrameBroadcaster",
+        output="screen"
     )
 
     return LaunchDescription(
@@ -159,11 +150,9 @@ def generate_launch_description():
             load_drivetrain_controller,
             load_status_light_controller,
             twist_mux_node,
-            # load_arm_controller,
-            # load_gripper_controller_left,
-            # load_gripper_controller_right,
             launch_gps,
             rosbridge_server_node,
             odom_frame_node,
+            launch_vectornav,
         ]
     )
diff --git a/urc_platform/CMakeLists.txt b/urc_platform/CMakeLists.txt
index 98245311..aff4685b 100644
--- a/urc_platform/CMakeLists.txt
+++ b/urc_platform/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(diagnostic_updater REQUIRED)
 find_package(usb_cam REQUIRED)
+find_package(vectornav_msgs REQUIRED)
 
 include_directories(
   include
@@ -29,6 +30,7 @@ set(dependencies
   sensor_msgs
   diagnostic_updater
   usb_cam
+  vectornav_msgs
 )
 
 ament_target_dependencies(${PROJECT_NAME}
diff --git a/urc_platform/package.xml b/urc_platform/package.xml
index faef788f..f8fb5cab 100644
--- a/urc_platform/package.xml
+++ b/urc_platform/package.xml
@@ -21,6 +21,7 @@
   <depend>usb_cam</depend>
   <depend>image_transport</depend>
   <depend>image_transport_plugins</depend>
+  <depend>vectornav_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>