diff --git a/README.md b/README.md
index e1efac5..ab095c8 100644
--- a/README.md
+++ b/README.md
@@ -14,7 +14,10 @@ pip install tinynav
 tinynav init
 tinynav doctor
 tinynav example
-tinynav nav
+tinynav nav status
+tinynav nav start --map-name <map_name>
+tinynav nav go --map-name <map_name> [--pois 2,1,0]
+tinynav nav stop
 tinynav map status
 tinynav map start_record
 tinynav map stop_record
@@ -104,3 +107,41 @@ The intent is:
 - recording outputs go under `rosbags/`
 - map build outputs go under `maps/`
 - `map build` consumes a rosbag name from `rosbags/` and produces a map directory in `maps/`
+
+
+## `tinynav nav` commands
+
+The `tinynav nav` workflow is managed inside a tmux session in the running container.
+The CLI currently uses the session name `tinynav_nav`.
+
+### Nav states
+
+- `idle`
+  - no navigation tmux session exists
+- `starting`
+  - tmux session exists but required ROS nodes are not all visible yet
+- `running`
+  - required ROS nodes are all present
+
+Required ROS nodes:
+
+- `/perception_node`
+- `/planning_node`
+- `/map_node`
+- `/cmd_vel_control_node`
+
+### Commands
+
+- `tinynav nav status`
+  - reports one of `idle`, `starting`, or `running`
+- `tinynav nav start --map-name <map_name>`
+  - allowed only in `idle`
+  - starts navigation panes in a tmux session inside the container
+  - passes the selected map path to `map_node.py`
+- `tinynav nav go --map-name <map_name> [--pois 2,1,0]`
+  - loads `maps/<map_name>/pois.json`
+  - if `--pois` is provided, reorders the outer keys to match the requested POI id sequence
+  - keeps each POI object's inner `id` unchanged
+  - publishes the payload to `/mapping/cmd_pois` as `std_msgs/String`
+- `tinynav nav stop`
+  - stops the tmux-managed navigation workflow inside the container
diff --git a/src/tinynav_cli/cli.py b/src/tinynav_cli/cli.py
index 53c3684..58edda9 100644
--- a/src/tinynav_cli/cli.py
+++ b/src/tinynav_cli/cli.py
@@ -6,6 +6,7 @@
 import os
 import platform
 import random
+import shlex
 import shutil
 import subprocess
 import sys
@@ -36,6 +37,7 @@
 MAP_RECORD_SESSION = "tinynav_map_record"
 MAP_BUILD_SESSION = "tinynav_map_build"
 MAP_EDIT_POIS_SESSION = "tinynav_map_edit_pois"
+NAV_SESSION = "tinynav_nav"
 
 
 def _default_workspace_dir() -> str:
@@ -64,12 +66,28 @@ class DoctorCommand:
 
 
 @dataclass
-class NavCommand:
-    """Run a navigation task."""
+class NavStatusCommand:
+    """Show the current navigation workflow status."""
 
     container_name: str = DEFAULT_CONTAINER_NAME
 
 
+@dataclass
+class NavStartCommand:
+    """Start the navigation workflow."""
+
+    map_name: Annotated[str, tyro.conf.arg(name="map-name")]
+    container_name: str = DEFAULT_CONTAINER_NAME
+
+
+@dataclass
+class NavGoCommand:
+    """Publish POIs for navigation."""
+
+    pois: str | None = None
+    container_name: str = DEFAULT_CONTAINER_NAME
+
+
 @dataclass
 class ExampleCommand:
     """Run the rosbag example workflow inside the tinynav container."""
@@ -142,6 +160,19 @@ class SensorsCommand:
 MapList = Annotated[MapListCommand, tyro.conf.subcommand(name="list")]
 MapCommand = Union[MapStatus, MapStartRecord, MapStopRecord, MapBuild, MapEditPois, MapList]
 
+@dataclass
+class NavStopCommand:
+    """Stop the navigation workflow."""
+
+    container_name: str = DEFAULT_CONTAINER_NAME
+
+
+NavStatus = Annotated[NavStatusCommand, tyro.conf.subcommand(name="status")]
+NavStart = Annotated[NavStartCommand, tyro.conf.subcommand(name="start")]
+NavGo = Annotated[NavGoCommand, tyro.conf.subcommand(name="go")]
+NavStop = Annotated[NavStopCommand, tyro.conf.subcommand(name="stop")]
+NavCommand = Union[NavStatus, NavStart, NavGo, NavStop]
+
 Init = Annotated[InitCommand, tyro.conf.subcommand(name="init")]
 Doctor = Annotated[DoctorCommand, tyro.conf.subcommand(name="doctor")]
 Nav = Annotated[NavCommand, tyro.conf.subcommand(name="nav")]
@@ -752,6 +783,40 @@ def _ros2_node_names(container_name: str) -> list[str]:
     return [line.strip() for line in result.stdout.splitlines() if line.strip()]
 
 
+NAV_REQUIRED_NODES = {
+    "/perception_node": "perception_node.py",
+    "/planning_node": "planning_node.py",
+    "/map_node": "map_node.py",
+    "/cmd_vel_control_node": "cmd_vel_control.py",
+}
+
+
+def _tmux_session_exists(container_name: str, session_name: str) -> bool:
+    result = _docker_exec_output(container_name, f"tmux has-session -t {session_name}")
+    return result.returncode == 0
+
+
+def _nav_status(container_name: str) -> tuple[str, list[str]]:
+    if not _tmux_session_exists(container_name, NAV_SESSION):
+        return "idle", []
+    nodes = set(_ros2_node_names(container_name))
+    missing = [node for node in NAV_REQUIRED_NODES if node not in nodes]
+    if missing:
+        return "starting", missing
+    return "running", []
+
+
+def _nav_map_name(container_name: str) -> str | None:
+    result = _docker_exec_output(container_name, f"tmux show-environment -t {NAV_SESSION} TINYNAV_MAP_NAME")
+    if result.returncode != 0:
+        return None
+    line = (result.stdout or '').strip()
+    prefix = 'TINYNAV_MAP_NAME='
+    if not line.startswith(prefix):
+        return None
+    return line[len(prefix):]
+
+
 def _map_status(container_name: str) -> str:
     nodes = _ros2_node_names(container_name)
     if "/build_map_node" in nodes:
@@ -801,6 +866,31 @@ def _container_maps_dir() -> Path:
     return Path(CONTAINER_WORKSPACE_DIR) / "maps"
 
 
+def _parse_poi_selection(pois: str) -> list[str]:
+    values = [value.strip() for value in pois.split(",") if value.strip()]
+    if not values:
+        raise ValueError("--pois must be a comma-separated list like 2,1,0")
+    return values
+
+
+def _selected_cmd_pois(map_path: Path, pois: str | None) -> dict[str, object]:
+    pois_path = map_path / "pois.json"
+    if not pois_path.exists():
+        raise FileNotFoundError(f"POI file not found: {pois_path}")
+    with pois_path.open() as f:
+        data = json.load(f)
+    if not isinstance(data, dict):
+        raise ValueError("pois.json must be a JSON object")
+    if pois is None:
+        return data
+    selected = {}
+    for index, poi_key in enumerate(_parse_poi_selection(pois)):
+        if poi_key not in data:
+            raise KeyError(f"POI {poi_key} not found in {pois_path}")
+        selected[str(index)] = data[poi_key]
+    return selected
+
+
 def _container_rosbags_dir() -> Path:
     return Path(CONTAINER_WORKSPACE_DIR) / "rosbags"
 
@@ -852,10 +942,108 @@ def run_version(command: VersionCommand) -> int:
     return 0
 
 
-def run_nav(command: NavCommand) -> int:
+def run_nav_status(command: NavStatusCommand) -> int:
+    if not _ensure_runtime_container(command.container_name):
+        return 1
+    status, missing = _nav_status(command.container_name)
+    print(f"tinynav nav status: {status}")
+    if missing:
+        print(f"   👉 missing nodes: {', '.join(missing)}")
+    return 0
+
+
+def run_nav_start(command: NavStartCommand) -> int:
+    if not _ensure_runtime_container(command.container_name):
+        return 1
+    status, _ = _nav_status(command.container_name)
+    if status != "idle":
+        print(f"❌ nav start is only allowed in idle state")
+        print(f"   👉 current state: {status}")
+        return 1
+    container_map_path = _container_maps_dir() / command.map_name
+    result = _docker_exec_output(
+        command.container_name,
+        " && ".join([
+            f"test -d {container_map_path}",
+            f"tmux kill-session -t {NAV_SESSION} >/dev/null 2>&1 || true",
+            f"tmux new-session -d -s {NAV_SESSION}",
+            f"tmux set-environment -t {NAV_SESSION} TINYNAV_MAP_NAME {command.map_name}",
+            f"tmux split-window -t {NAV_SESSION} -h",
+            f"tmux split-window -t {NAV_SESSION}:0.0 -v",
+            f"tmux split-window -t {NAV_SESSION}:0.1 -v",
+            f"tmux send-keys -t {NAV_SESSION}:0.0 'source /opt/ros/*/setup.bash >/dev/null 2>&1 && uv run python /tinynav/tinynav/core/perception_node.py' C-m",
+            f"tmux send-keys -t {NAV_SESSION}:0.1 'source /opt/ros/*/setup.bash >/dev/null 2>&1 && uv run python /tinynav/tinynav/core/planning_node.py' C-m",
+            f"tmux send-keys -t {NAV_SESSION}:0.2 'source /opt/ros/*/setup.bash >/dev/null 2>&1 && uv run python /tinynav/tinynav/platforms/cmd_vel_control.py' C-m",
+            f"tmux send-keys -t {NAV_SESSION}:0.3 'source /opt/ros/*/setup.bash >/dev/null 2>&1 && uv run python /tinynav/tinynav/core/map_node.py --tinynav_map_path {container_map_path}' C-m",
+        ]),
+    )
+    if result.returncode != 0:
+        print("❌ Failed to start navigation inside the container.")
+        if result.stderr or result.stdout:
+            print(f"   👉 {(result.stderr or result.stdout).strip()}")
+        return 1
+    print(f"✅ Started navigation inside container {command.container_name}.")
+    print(f"   👉 tmux session: {NAV_SESSION}")
+    print(f"   👉 map: {command.map_name}")
+    return 0
+
+
+def run_nav_go(command: NavGoCommand) -> int:
+    if not _ensure_runtime_container(command.container_name):
+        return 1
+    status, _ = _nav_status(command.container_name)
+    if status != "running":
+        print("❌ nav go is only allowed in running state")
+        print(f"   👉 current state: {status}")
+        return 1
+    map_name = _nav_map_name(command.container_name)
+    if map_name is None:
+        print("❌ Failed to resolve map name from the running nav session.")
+        return 1
+    map_path = _maps_dir() / map_name
+    try:
+        payload = _selected_cmd_pois(map_path, command.pois)
+    except (FileNotFoundError, ValueError, KeyError) as exc:
+        print("❌ Failed to prepare navigation POIs.")
+        print(f"   👉 {exc}")
+        return 1
+    payload_json = json.dumps(payload, separators=(",", ":"))
+    msg_arg = shlex.quote(f"{{data: {payload_json}}}")
+    result = _docker_exec_output(
+        command.container_name,
+        "source /opt/ros/*/setup.bash >/dev/null 2>&1 && "
+        f"ros2 topic pub --once /mapping/cmd_pois std_msgs/msg/String {msg_arg}",
+    )
+    if result.returncode != 0:
+        print("❌ Failed to publish navigation POIs inside the container.")
+        if result.stderr or result.stdout:
+            print(f"   👉 {(result.stderr or result.stdout).strip()}")
+        return 1
+    print(f"✅ Published navigation POIs inside container {command.container_name}.")
+    print(f"   👉 map: {map_name}")
+    if command.pois is None:
+        print("   👉 pois: all")
+    else:
+        print(f"   👉 pois: {command.pois}")
+    return 0
+
+
+def run_nav_stop(command: NavStopCommand) -> int:
     if not _ensure_runtime_container(command.container_name):
         return 1
-    print("tinynav nav: not implemented yet")
+    if not _tmux_session_exists(command.container_name, NAV_SESSION):
+        print("✅ Navigation is not running.")
+        return 0
+    for pane in ("0.0", "0.1", "0.2", "0.3"):
+        _docker_exec_output(command.container_name, f"tmux send-keys -t {NAV_SESSION}:{pane} C-c")
+    time.sleep(1.0)
+    result = _docker_exec_output(command.container_name, f"tmux kill-session -t {NAV_SESSION}")
+    if result.returncode != 0:
+        print("❌ Failed to stop navigation inside the container.")
+        if result.stderr or result.stdout:
+            print(f"   👉 {(result.stderr or result.stdout).strip()}")
+        return 1
+    print(f"✅ Stopped navigation inside container {command.container_name}.")
     return 0
 
 
@@ -1158,8 +1346,14 @@ def run(command: Command) -> int:
             return run_init(command)
         case DoctorCommand():
             return run_doctor(command)
-        case NavCommand():
-            return run_nav(command)
+        case NavStatusCommand():
+            return run_nav_status(command)
+        case NavStartCommand():
+            return run_nav_start(command)
+        case NavGoCommand():
+            return run_nav_go(command)
+        case NavStopCommand():
+            return run_nav_stop(command)
         case ExampleCommand():
             return run_example(command)
         case VersionCommand():
diff --git a/tests/test_cli.py b/tests/test_cli.py
index b0f4eac..1621d0a 100644
--- a/tests/test_cli.py
+++ b/tests/test_cli.py
@@ -1,5 +1,46 @@
+import json
+
+import pytest
+
+from tinynav_cli.cli import _parse_poi_selection, _selected_cmd_pois
 from tinynav_cli.version import __version__
 
 
 def test_version() -> None:
     assert __version__ == "0.0.13"
+
+
+def test_parse_poi_selection() -> None:
+    assert _parse_poi_selection("2,1,0") == ["2", "1", "0"]
+
+
+def test_parse_poi_selection_rejects_empty() -> None:
+    with pytest.raises(ValueError):
+        _parse_poi_selection("")
+
+
+def test_selected_cmd_pois_preserves_inner_ids(tmp_path) -> None:
+    map_path = tmp_path / "maps" / "demo"
+    map_path.mkdir(parents=True)
+    pois = {
+        "0": {"id": 0, "name": "POI_0", "position": [0, 0, 0]},
+        "1": {"id": 1, "name": "POI_1", "position": [1, 1, 1]},
+        "2": {"id": 2, "name": "POI_2", "position": [2, 2, 2]},
+    }
+    (map_path / "pois.json").write_text(json.dumps(pois))
+
+    selected = _selected_cmd_pois(map_path, "2,1,0")
+
+    assert list(selected.keys()) == ["0", "1", "2"]
+    assert selected["0"]["id"] == 2
+    assert selected["1"]["id"] == 1
+    assert selected["2"]["id"] == 0
+
+
+def test_selected_cmd_pois_without_filter_returns_all(tmp_path) -> None:
+    map_path = tmp_path / "maps" / "demo"
+    map_path.mkdir(parents=True)
+    pois = {"0": {"id": 0}}
+    (map_path / "pois.json").write_text(json.dumps(pois))
+
+    assert _selected_cmd_pois(map_path, None) == pois
diff --git a/tests/test_cli_smoke.py b/tests/test_cli_smoke.py
index f367b11..5e211ea 100644
--- a/tests/test_cli_smoke.py
+++ b/tests/test_cli_smoke.py
@@ -69,3 +69,14 @@ def test_sensors_help_runs() -> None:
     text = output_text(result).lower()
     assert "container" in text
     assert "preview" in text
+
+
+
+def test_nav_help_runs() -> None:
+    result = run_cli("nav", "--help")
+    assert result.returncode == 0
+    text = output_text(result)
+    assert "status" in text
+    assert "start" in text
+    assert "go" in text
+    assert "stop" in text