To run TMNav you need a Java-jre or sdk, version 1.4 or above.
You can get a distribution for your operation system from Sun's Java download page.
TMNav-0.2.7 comes in two distributions. The binary distribution is a ready-to-go-set which includes everything you need to run TMNav, except the Java Runtime Environment.
If you are familiar with Java-developement you may download the source distribution and compile TMNav by yourself. In this case you need, besides a 1.4-JDK, jakarta-ant installed on your machine.
Both the binary as well as the source distribution is accessible via the tm4j download page at sourceforge.
Download tmnav-0.2.7xx-bin.zip
Unzip the package.
On windows doubleclick runtmnav.bat, on unix/linux/macosx execute runtmnav.sh.