diff --git a/NaviGator/scripts/tmux_start.sh b/NaviGator/scripts/tmux_start.sh
new file mode 100755
index 000000000..86bbd27c4
--- /dev/null
+++ b/NaviGator/scripts/tmux_start.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+if tmux has-session -t auto; then
+	tmux a -t auto
+else
+	# First window (panes)
+	tmux new-session -d -s auto
+	tmux send-keys -t auto:0.0 'roslaunch navigator_launch master.launch --screen' Enter
+	tmux split-window -h -t auto
+	tmux split-window -v -t auto
+
+	# Second window (alarms, other panes)
+	sleep 1.5
+	tmux new-window -t auto
+	tmux split-window -h -t auto:1
+	tmux split-window -v -t auto:1
+	tmux split-window -v -t auto:1.0
+	tmux send-keys 'amonitor kill' Enter
+	tmux split-window -h
+	tmux send-keys 'amonitor hw-kill' Enter
+	tmux select-pane -t auto:1.0
+
+	# Return to the first window
+	tmux select-window -t auto:0
+	tmux a -t auto
+fi
diff --git a/scripts/setup.bash b/scripts/setup.bash
index 40dec2169..fd8215be7 100755
--- a/scripts/setup.bash
+++ b/scripts/setup.bash
@@ -91,6 +91,7 @@ alias gazebogui="rosrun gazebo_ros gzclient __name:=gzclient"
 
 # Preflight aliases
 alias preflight='python3 $MIL_REPO/mil_common/utils/mil_tools/scripts/mil-preflight/main.py'
+alias ntmux='$MIL_REPO/NaviGator/scripts/tmux_start.sh'
 
 # Process killing aliases
 alias killgazebo="killall -9 gzserver && killall -9 gzclient"