diff --git a/README.md b/README.md
index 6e85f20..3ec6ef9 100644
--- a/README.md
+++ b/README.md
@@ -138,7 +138,8 @@
     ```zsh
     ros2 launch pb2025_nav_bringup rm_sentry_reality_launch.py \
     world:=<YOUR_WORLD_NAME> \
-    slam:=True
+    slam:=False \
+    use_robot_state_pub:=True
     ```
 
 #### 参数说明
@@ -155,6 +156,15 @@
 
     2. 自动覆写 point_lio 参数 `pcd_save.pcd_save_en` 为 True，以便保存点云文件。
 
+- `use_robot_state_pub`: 是否使用 `robot_state_publisher` 发布机器人的 TF 信息。
+
+    1. 在仿真环境中，由于配套的 Gazebo 仿真器已经发布了机器人的 TF 信息，故不需要再次发布。
+
+    2. 在真实环境中，我们**更推荐**使用独立的功能包发布机器人的 TF 信息，例如由上下位机串口通讯模块提供 gimbal_yaw 和 gimbal_pitch 的关节位姿，此时应将 `use_robot_state_pub` 设置为 False。
+
+        如果没有完整的机器人系统，仅测试导航模块时，可将 `use_robot_state_pub` 设置为 True，此时导航模块会发布静态的机器人关节位姿数据以维护 TF 树。  
+        注：需要额外克隆并编译 [pb2025_robot_description](https://github.com/SMBU-PolarBear-Robot-Team/pb2025_robot_description.git)
+
 ### 3.2 CMU Navigation Demo（停止维护）
 
 > [!NOTE]
diff --git a/pb2025_nav_bringup/launch/rm_sentry_reality_launch.py b/pb2025_nav_bringup/launch/rm_sentry_reality_launch.py
index 51ea15a..eb269a6 100644
--- a/pb2025_nav_bringup/launch/rm_sentry_reality_launch.py
+++ b/pb2025_nav_bringup/launch/rm_sentry_reality_launch.py
@@ -7,7 +7,6 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from sdformat_tools.urdf_generator import UrdfGenerator
 
 
 def generate_launch_description():
@@ -30,16 +29,9 @@ def generate_launch_description():
 
     # Launch configuration variables specific to simulation
     rviz_config_file = LaunchConfiguration("rviz_config_file")
+    use_robot_state_pub = LaunchConfiguration("use_robot_state_pub")
     use_rviz = LaunchConfiguration("use_rviz")
 
-    pkg_simulator = get_package_share_directory("rmul24_gazebo_simulator")
-    robot_sdf_path = os.path.join(
-        pkg_simulator, "resource", "xmacro", "rmul24_sentry_robot.sdf"
-    )
-    urdf_generator = UrdfGenerator()
-    urdf_generator.parse_from_sdf_file(robot_sdf_path)
-    robot_urdf_xml = urdf_generator.to_string()
-
     # Map fully qualified names to relative ones so the node's namespace can be prepended.
     # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
     # https://github.com/ros/geometry2/issues/32
@@ -117,6 +109,12 @@ def generate_launch_description():
         description="Whether to respawn if a node crashes. Applied when composition is disabled.",
     )
 
+    declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
+        "use_robot_state_pub",
+        default_value="False",
+        description="Whether to start the robot state publisher",
+    )
+
     declare_rviz_config_file_cmd = DeclareLaunchArgument(
         "rviz_config_file",
         default_value=os.path.join(bringup_dir, "rviz", "nav2_namespaced_view.rviz"),
@@ -127,27 +125,17 @@ def generate_launch_description():
         "use_rviz", default_value="True", description="Whether to start RVIZ"
     )
 
-    start_joint_state_publisher_cmd = Node(
-        package="joint_state_publisher",
-        executable="joint_state_publisher",
-        name="joint_state_publisher",
-        output="screen",
-        namespace=namespace,
-        # TODO: Using serial_driver to publish `gimbal_yaw` and `gimbal_pitch` joint.
-        # parameters=[{"source_list": [""]}],
-        remappings=remappings,
-    )
-
-    start_robot_state_publisher_cmd = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        name="robot_state_publisher",
-        output="screen",
-        namespace=namespace,
-        parameters=[
-            {"use_sim_time": use_sim_time, "robot_description": robot_urdf_xml}
-        ],
-        remappings=remappings,
+    start_robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(launch_dir, "rm_sentry_state_publisher_launch.py")
+        ),
+        # NOTE: This startup file is only used when the navigation module is standalone
+        condition=IfCondition(use_robot_state_pub),
+        launch_arguments={
+            "namespace": namespace,
+            "use_namespace": use_namespace,
+            "use_sim_time": use_sim_time,
+        }.items(),
     )
 
     start_livox_ros_driver2_node = Node(
@@ -224,11 +212,11 @@ def generate_launch_description():
     ld.add_action(declare_autostart_cmd)
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_rviz_config_file_cmd)
+    ld.add_action(declare_use_robot_state_pub_cmd)
     ld.add_action(declare_use_rviz_cmd)
     ld.add_action(declare_use_respawn_cmd)
 
     # Add the actions to launch all of the navigation nodes
-    ld.add_action(start_joint_state_publisher_cmd)
     ld.add_action(start_robot_state_publisher_cmd)
     ld.add_action(start_livox_ros_driver2_node)
     ld.add_action(bringup_cmd)
diff --git a/pb2025_nav_bringup/launch/rm_sentry_state_publisher_launch.py b/pb2025_nav_bringup/launch/rm_sentry_state_publisher_launch.py
new file mode 100644
index 0000000..6ca4686
--- /dev/null
+++ b/pb2025_nav_bringup/launch/rm_sentry_state_publisher_launch.py
@@ -0,0 +1,123 @@
+# NOTE: This startup file is only used when the navigation module is standalone
+# It is used to launch the robot state publisher and joint state publisher.
+# But in a complete robot system, this part should be completed by an independent robot startup module
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node, PushRosNamespace
+from sdformat_tools.urdf_generator import UrdfGenerator
+from xmacro.xmacro4sdf import XMLMacro4sdf
+
+
+def generate_launch_description():
+    # Get the launch directory
+    pkg_pb2025_robot_description_dir = get_package_share_directory(
+        "pb2025_robot_description"
+    )
+
+    namespace = LaunchConfiguration("namespace")
+    use_namespace = LaunchConfiguration("use_namespace")
+    use_sim_time = LaunchConfiguration("use_sim_time")
+    # xmacro_description = LaunchConfiguration("xmacro_description")
+    xmacro_description = os.path.join(
+        pkg_pb2025_robot_description_dir,
+        "resource",
+        "xmacro",
+        "pb2025_sentry_robot.sdf.xmacro",
+    )
+
+    # Map fully qualified names to relative ones so the node's namespace can be prepended.
+    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
+    # https://github.com/ros/geometry2/issues/32
+    # https://github.com/ros/robot_state_publisher/pull/30
+    # TODO(orduno) Substitute with `PushNodeRemapping`
+    #              https://github.com/ros2/launch_ros/issues/56
+    remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]
+
+    # Declare the launch arguments
+    declare_namespace_cmd = DeclareLaunchArgument(
+        "namespace",
+        default_value="",
+        description="Top-level namespace",
+    )
+
+    declare_use_namespace_cmd = DeclareLaunchArgument(
+        "use_namespace",
+        default_value="false",
+        description="Whether to apply a namespace to the navigation stack",
+    )
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        "use_sim_time",
+        default_value="false",
+        description="Use simulation (Gazebo) clock if true",
+    )
+
+    # declare_xmacro_description_cmd = DeclareLaunchArgument(
+    #     "xmacro_description",
+    #     default_value=os.path.join(
+    #         pkg_pb2025_robot_description_dir,
+    #         "resource",
+    #         "xmacro",
+    #         "rmul24_sentry_robot.sdf.xmacro",
+    #     ),
+    #     description="Robot description in xmacro format",
+    # )
+
+    xmacro = XMLMacro4sdf()
+    xmacro.set_xml_file(xmacro_description)
+
+    # Generate SDF from xmacro
+    xmacro.generate()
+    robot_xml = xmacro.to_string()
+
+    # Generate URDF from SDF
+    urdf_generator = UrdfGenerator()
+    urdf_generator.parse_from_sdf_string(robot_xml)
+    robot_urdf_xml = urdf_generator.to_string()
+
+    bringup_cmd_group = GroupAction(
+        [
+            PushRosNamespace(condition=IfCondition(use_namespace), namespace=namespace),
+            Node(
+                package="joint_state_publisher",
+                executable="joint_state_publisher",
+                name="joint_state_publisher",
+                output="screen",
+                # TODO: Using serial_driver to publish `gimbal_yaw` and `gimbal_pitch` joint.
+                # parameters=[{"source_list": [""]}],
+                remappings=remappings,
+            ),
+            Node(
+                package="robot_state_publisher",
+                executable="robot_state_publisher",
+                name="robot_state_publisher",
+                remappings=remappings,
+                parameters=[
+                    {
+                        "use_sim_time": use_sim_time,
+                        "robot_description": robot_urdf_xml,
+                    }
+                ],
+            ),
+        ]
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_namespace_cmd)
+    ld.add_action(declare_use_namespace_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    # ld.add_action(declare_xmacro_description_cmd)
+
+    # Add the actions to launch all nodes
+    ld.add_action(bringup_cmd_group)
+
+    return ld
diff --git a/small_gicp_relocalization b/small_gicp_relocalization
index fb57a13..b950087 160000
--- a/small_gicp_relocalization
+++ b/small_gicp_relocalization
@@ -1 +1 @@
-Subproject commit fb57a13042534cc8b71aedae2dd6115cd4ebea76
+Subproject commit b950087595d32e1ff642cbb428f428b39e088eae