Some of the instruments that were used to navigate on the seas were

the compass.

the astrolabe.

the telescope.

the eyes.

all of the above.

Assemblies do not have written codes of laws. laws are matters for magistrates and courts, not assemblies. codes of law are things such as civil law, criminal law, and constitutional law. what assemblies have are procedures regarding debating, voting and other business they might carry out.  also note that rome had three assemblies: the assembly of the soldiers, the assembly of the tribes, and the plebeian councils.