diff --git a/src/subsystems/navigation/yolo_ros/yolo_ros/best.pt b/src/subsystems/navigation/yolo_ros/yolo_ros/best.pt
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Binary files /dev/null and b/src/subsystems/navigation/yolo_ros/yolo_ros/best.pt differ
diff --git a/src/subsystems/navigation/yolo_ros/yolo_ros/yolo_live_logger.py b/src/subsystems/navigation/yolo_ros/yolo_ros/yolo_live_logger.py
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+++ b/src/subsystems/navigation/yolo_ros/yolo_ros/yolo_live_logger.py
@@ -0,0 +1,158 @@
+import cv2
+import time
+import csv
+import os
+from datetime import datetime
+from ultralytics import YOLO
+import signal
+
+# ========= CONFIG =========
+MODEL_PATH = "best.pt"   #  trained model
+CAMERA_INDEX = 0         #  change this after running find_cameras.py
+
+SAVE_VIDEO = False        # True = save annotated video, False = no video file
+OUTPUT_DIR = "yolo_output"
+VIDEO_FPS = 20.0         # output video fps (approx)
+STOP = False
+# ==========================
+
+def handle_stop(sig, frame):
+    global STOP
+    STOP = True
+
+signal.signal(signal.SIGINT, handle_stop)
+signal.signal(signal.SIGTERM, handle_stop)
+
+def main():
+    # Make output directory
+    os.makedirs(OUTPUT_DIR, exist_ok=True)
+
+    # Load YOLO model
+    print(f"[INFO] Loading model from {MODEL_PATH}")
+    BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+    WEIGHTS_PATH = os.path.join(BASE_DIR, MODEL_PATH)   # if best.pt is in same folder as yolo_live_logger.py
+    model = YOLO(WEIGHTS_PATH)
+    print("[INFO] Classes:", model.names)
+
+    # Open camera
+    print(f"[INFO] Opening camera index {CAMERA_INDEX}")
+    cap = cv2.VideoCapture(CAMERA_INDEX)
+    if not cap.isOpened():
+        print("[ERROR] Could not open camera. Try changing CAMERA_INDEX.")
+        return
+
+    # Get frame size for video writer
+    ret, frame = cap.read()
+    if not ret:
+        print("[ERROR] Could not read initial frame from camera.")
+        cap.release()
+        return
+    height, width = frame.shape[:2]
+
+    # Setup video writer if needed
+    timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+    video_path = os.path.join(OUTPUT_DIR, f"yolo_run_{timestamp}.mp4")
+    csv_path = os.path.join(OUTPUT_DIR, f"detections_log_{timestamp}.csv")
+
+    if SAVE_VIDEO:
+        fourcc = cv2.VideoWriter_fourcc(*"mp4v")
+        writer = cv2.VideoWriter(video_path, fourcc, VIDEO_FPS, (width, height))
+        print(f"[INFO] Saving video to {video_path}")
+    else:
+        writer = None
+
+    # Setup CSV logging
+    csv_file = open(csv_path, mode="w", newline="", encoding="utf-8")
+    csv_writer = csv.writer(csv_file)
+    csv_writer.writerow([
+        "frame_id", "timestamp", "class_id", "class_name",
+        "confidence", "x1", "y1", "x2", "y2", "width_px", "height_px"
+    ])
+    print(f"[INFO] Logging detections to {csv_path}")
+
+    frame_id = 0
+    fps = 0.0
+    t_prev = time.time()
+
+    print("[INFO] Press 'q' to quit.")
+    while True:
+
+        if STOP:
+            break
+
+        ret, frame = cap.read()
+        if not ret:
+            print("[WARN] Failed to grab frame, stopping.")
+            break
+
+        t_start = time.time()
+
+        # Run YOLO on the BGR frame
+        results = model(frame, verbose=False)
+
+        # Draw detections
+        for r in results:
+            for box in r.boxes:
+                x1, y1, x2, y2 = box.xyxy[0].cpu().numpy()
+                x1, y1, x2, y2 = map(int, [x1, y1, x2, y2])
+
+                cls_id = int(box.cls[0])
+                conf = float(box.conf[0])
+                class_name = model.names.get(cls_id, str(cls_id))
+
+                # Draw box
+                cv2.rectangle(frame, (x1, y1), (x2, y2),
+                              (0, 255, 0), 2)
+
+                # Label text
+                label = f"{class_name} {conf:.2f}"
+                cv2.putText(frame, label, (x1, max(y1 - 10, 0)),
+                            cv2.FONT_HERSHEY_SIMPLEX, 0.6,
+                            (0, 255, 0), 2)
+
+                # Log to CSV
+                csv_writer.writerow([
+                    frame_id,
+                    datetime.now().isoformat(),
+                    cls_id,
+                    class_name,
+                    f"{conf:.4f}",
+                    x1, y1, x2, y2,
+                    x2 - x1,
+                    y2 - y1
+                ])
+
+        # FPS calculation
+        t_end = time.time()
+        fps = 1.0 / max(t_end - t_start, 1e-6)
+
+        # Draw FPS on frame
+        cv2.putText(frame, f"FPS: {fps:.1f}", (10, 30),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.9, (0, 255, 255), 2)
+
+        # Show frame
+        #cv2.imshow("YOLO Live Logger", frame)
+
+        # Write frame to video if enabled
+        if writer is not None:
+            writer.write(frame)
+
+        frame_id += 1
+
+        # Quit on 'q'
+        #key = cv2.waitKey(1) & 0xFF
+        #if key == ord('q'):
+           # break
+
+    # Cleanup
+    cap.release()
+    if writer is not None:
+        writer.release()
+    csv_file.close()
+    cv2.destroyAllWindows()
+
+    print("[INFO] Done.")
+
+
+if __name__ == "__main__":
+    main()