diff --git a/.env b/.env
index bd877d365..64a1b3f6b 100644
--- a/.env
+++ b/.env
@@ -12,7 +12,7 @@ PROJECT_NAME="airstack"
 # If you've run ./airstack.sh setup, then this will auto-generate from the git commit hash every time a change is made 
 # to a Dockerfile or docker-compose.yaml file. Otherwise this can also be set explicitly to make a release version.
 # auto-generated from git commit hash
-VERSION="0.20.0-alpha.16"
+VERSION="0.20.0-alpha.17"
 # Image-tag discriminator ONLY (appears in the image tag suffix, e.g. ..._robot-x86-64_dev).
 # No Dockerfile consumes it: "prebuilt" does NOT bake the built ros_ws into the image today —
 # a real prebuilt (workspace-baked) stage is future work. Keep "dev" (mounted code, built live).
diff --git a/docs/development/stacks.md b/docs/development/stacks.md
index 76d6063ed..cfbc9d29b 100644
--- a/docs/development/stacks.md
+++ b/docs/development/stacks.md
@@ -30,6 +30,7 @@ Anatomy is enforced by a unit test: `tests/meta/test_stack_layout_contract.py`
 | [`full_default`](https://github.com/castacks/AirStack/tree/develop/stacks/full_default) | The full-autonomy topology (GPU `droan_gl` planner) — the baseline, and what launches when no stack is selected. |
 | [`full_droan_cpu`](https://github.com/castacks/AirStack/tree/develop/stacks/full_droan_cpu) | CPU DROAN planner + live `disparity_expansion` (for machines without the GPU planner). |
 | [`full_macvo`](https://github.com/castacks/AirStack/tree/develop/stacks/full_macvo) | MAC-VO as the planner's disparity source. Requires the `asm_macvo` module (`airstack module add asm_macvo`). |
+| [`full_mighty`](https://github.com/castacks/AirStack/tree/develop/stacks/full_mighty) | The MIGHTY map-based local planner (+ acl-mapping voxel world model) in place of `droan_gl`. Requires the `asm_mighty` module (pinned in the stack's `modules.repos`). |
 | [`lite_default`](https://github.com/castacks/AirStack/tree/develop/stacks/lite_default) | Onboard-lite topology, unsplit: interface, sensors, perception, flat Local layer, behavior; **no global, no logging**. |
 | [`lite_offload_global`](https://github.com/castacks/AirStack/tree/develop/stacks/lite_offload_global) | A **split stack**: `onboard.launch.xml` (= lite topology) + `offboard.launch.xml` (global layer only) + `bridge.yaml`. |
 
@@ -283,5 +284,6 @@ ignored. Select the topology with `--stack`:
 | The full-autonomy baseline | Nothing — `full_default` launches by default (or be explicit: `--stack full_default`) |
 | CPU DROAN topology | `--stack full_droan_cpu` |
 | MAC-VO disparity topology | `--stack full_macvo` (requires the `asm_macvo` module) |
+| MIGHTY map-based local planner | `--stack full_mighty` (requires the `asm_mighty` module) |
 | Onboard-lite, unsplit | `--stack lite_default` |
 | Split onboard/offboard | `--stack lite_offload_global:onboard` / `:offboard` (+ generate the router config from `bridge.yaml`) |
diff --git a/docs/modules/index.md b/docs/modules/index.md
index 7a28abc3b..db55baf9b 100644
--- a/docs/modules/index.md
+++ b/docs/modules/index.md
@@ -20,6 +20,7 @@ directory and is never hand-edited.
 |--------|-------------|------|------------|-----------------|-------|
 | [dfm2_disturbances](dfm2_disturbances.md) | Isaac Sim disturbance library (fan/vent force fields, strobe lights, lens flare) | `isaac_extension` | ajong@andrew.cmu.edu | `>=0.19.0-alpha.18 <0.20.0` | [repo](https://github.com/castacks/asm_dfm2_disturbances) |
 | [macvo](macvo.md) | MAC-VO learned stereo visual odometry (ICRA 2025 best paper) — macvo_ros2 wrapper around the MAC-VO network, publishing odometry, a covariance-aware point cloud, and the disparity image the local planner can consume | `ros_package` | ajong@andrew.cmu.edu | `>=0.19.0-alpha.18 <0.20.0` | [repo](https://github.com/castacks/asm_macvo) · [full_macvo](../../stacks/full_macvo/README.md) |
+| [mighty](mighty.md) | MIGHTY Hermite-spline local planner (MIT ACL, RA-L 2026) with its acl-mapping voxel world model and a bridge to AirStack's NavigateTask / trajectory_controller seam — a map-based replacement for the DROAN local planner | `ros_package` | ajong@andrew.cmu.edu | `>=0.20.0-alpha.16 <0.21.0` | [repo](https://github.com/castacks/asm_mighty) · [full_mighty](../../stacks/full_mighty/README.md) |
 | [optitrack](optitrack.md) | OptiTrack NatNet mocap integration — natnet_ros2 client + PX4 external-vision fusion bridges on the robot, and the Motive-compatible NatNet server emulator for Isaac Sim | `ros_package` | ajong@andrew.cmu.edu | `>=0.19.0-alpha.18 <0.20.0` | [repo](https://github.com/castacks/asm_optitrack) |
 
 ## Registered stacks
@@ -35,6 +36,7 @@ The stacks below are the ones REGISTERED in the index; the site nav's
 | [full_default](../../stacks/full_default/README.md) | The current full-autonomy topology as a self-contained stack folder — the baseline most users start from and the stack other stacks are copied from | `>=0.19.0-alpha.18 <0.21.0` | [wiring.md](../../stacks/full_default/wiring.md) | [full_default.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_default.yaml) |
 | [full_droan_cpu](../../stacks/full_droan_cpu/README.md) | Full autonomy with the CPU DROAN local planner (droan_local_planner + live disparity_expansion world model) instead of the GPU droan_gl node | `>=0.19.0-alpha.18 <0.21.0` | [wiring.md](../../stacks/full_droan_cpu/wiring.md) | [full_droan_cpu.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_droan_cpu.yaml) |
 | [full_macvo](../../stacks/full_macvo/README.md) | Full autonomy with MAC-VO learned stereo visual odometry as the disparity source for the local planner (droan_gl consumes /$ROBOT_NAME/perception/macvo/disparity) | `>=0.19.0-alpha.18 <0.21.0` | [wiring.md](../../stacks/full_macvo/wiring.md) | [full_macvo.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_macvo.yaml) |
+| [full_mighty](../../stacks/full_mighty/README.md) | Full autonomy with the local planning layer swapped to the MIGHTY module (mighty planner + acl-mapping voxel world model fed by the filtered Ouster cloud + NavigateTask bridge) in place of droan_gl; everything else is identical to full_default | `>=0.20.0-alpha.16 <0.21.0` | *not committed yet* | [full_mighty.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_mighty.yaml) |
 
 ## See also
 
diff --git a/docs/modules/mighty.md b/docs/modules/mighty.md
new file mode 100644
index 000000000..935467e9e
--- /dev/null
+++ b/docs/modules/mighty.md
@@ -0,0 +1,56 @@
+# mighty
+
+<!-- GENERATED by tools/gen_docs_catalog.py from the airstack-modules-index registry. Do not edit by hand: regenerate with
+     python3 tools/gen_docs_catalog.py --index <registry-checkout>
+     (the docs deploy workflows regenerate it against the live registry at build time) -->
+
+> MIGHTY Hermite-spline local planner (MIT ACL, RA-L 2026) with its acl-mapping voxel world model and a bridge to AirStack's NavigateTask / trajectory_controller seam — a map-based replacement for the DROAN local planner
+
+| | |
+|---|---|
+| Repository | [castacks/asm_mighty](https://github.com/castacks/asm_mighty) |
+| Type | `ros_package` |
+| Maintainer | ajong@andrew.cmu.edu |
+| License | BSD-3-Clause-Clear |
+| Registered ref | [`v0.1.1`](https://github.com/castacks/asm_mighty/tree/v0.1.1) |
+| Declared compat | `>=0.20.0-alpha.16 <0.21.0` |
+| Registry entry | [modules/mighty.yaml](https://github.com/castacks/airstack-modules-index/blob/main/modules/mighty.yaml) |
+
+## Install
+
+From an AirStack checkout ([AirStack Modules guide](../development/modules.md)):
+
+```bash
+airstack module add https://github.com/castacks/asm_mighty --version v0.1.1
+airstack up
+```
+
+`module add` pins the module in `modules.repos` and syncs it into the
+gitignored `modules/` overlay; `airstack up` automatically includes the
+generated compose override that mounts it into the containers.
+
+## Compatibility: declared vs verified
+
+The range `>=0.20.0-alpha.16 <0.21.0` is **DECLARED** by the module author
+(copied from the module's `module.yaml`). The **VERIFIED** record — rows
+stamped exclusively by CI runs of the reusable
+[module-system-tests workflow](../development/module_ci.md) — lives in the
+registry's [compat/ matrix](https://github.com/castacks/airstack-modules-index/tree/main/compat)
+([compat/mighty.yaml](https://github.com/castacks/airstack-modules-index/blob/main/compat/mighty.yaml) once stamped).
+A compatibility claim that isn't CI-verified rots: trust the
+matrix, read the declaration as intent.
+
+## Documentation
+
+- [Module README on GitHub @ `v0.1.1`](https://github.com/castacks/asm_mighty/blob/v0.1.1/README.md)
+- *The module repo was not fetched when this page was generated — the*
+  *links above go to GitHub at the registered ref (failure isolation:*
+  *an unreachable module repo never fails the docs deploy).*
+
+## Registered stacks using this module
+
+- [full_mighty](../../stacks/full_mighty/README.md)
+
+## Registry notes
+
+> Repo is PRIVATE until the AirStack agent study (ICRA 2027 paper, Sec. VI-C) concludes, then flips public — until then the repo/README links 404 for non-members. v0.1.1 is code-identical to v0.1.0 (README-only delta); v0.1.0 was validated end-to-end on Isaac Sim: 44/44 vendored gtests, synthetic smoke harness, empty-world NavigateTask flight, 7/7 practice pillar-field traversals, and 5/5 judged obstacle-route flights (min clearances 1.59–1.65 m vs a 1.0 m gate). Wrapper packages are BSD-3-Clause-Clear; vendored upstream packages (mighty, DecompROS2, acl-mapping) keep their own permissive licenses — see the module's VENDORED.md. Consumed by trunk reference stack full_mighty.
diff --git a/docs/release_notes/index.md b/docs/release_notes/index.md
index 490159def..b8d93e369 100644
--- a/docs/release_notes/index.md
+++ b/docs/release_notes/index.md
@@ -19,6 +19,20 @@ its own notes. -->
 
 ## 0.20.0 (Unreleased)
 
+- **New reference stack `full_mighty` + registered `mighty` module.** The
+  MIGHTY Hermite-spline local planner (MIT ACL, RA-L 2026) with its
+  acl-mapping voxel world model and a NavigateTask/trajectory_controller
+  bridge, packaged as the external
+  [asm_mighty](https://github.com/castacks/asm_mighty) module (pinned at
+  v0.1.1 in the stack's `modules.repos`; repo private until the AirStack
+  agent study concludes). [`full_mighty`](../../stacks/full_mighty/README.md)
+  is `full_default` with only the local-planner include swapped — the
+  module-swap demonstration for the modular architecture. Registered in the
+  [module catalog](../modules/index.md); validated on Isaac Sim (44/44
+  vendored gtests, empty-world route flight, 7/7 pillar-field traversals,
+  5/5 judged obstacle-route flights at 1.59–1.65 m min clearance vs a 1.0 m
+  gate).
+
 - Fixed: the docs search dropdown rendered behind the nav-tabs bar and the
   version-selector text (custom z-indexes inside the header's stacking
   context); the search subtree is now lifted above both.
diff --git a/docs/robot/autonomy/adding_a_controller.md b/docs/robot/autonomy/adding_a_controller.md
index b23625ff8..3cb97db93 100644
--- a/docs/robot/autonomy/adding_a_controller.md
+++ b/docs/robot/autonomy/adding_a_controller.md
@@ -5,7 +5,7 @@ AirStack splits control into two roles ([Controls overview](local/controls/index
 - **Trajectory controller** — a pure-pursuit trajectory *manager*, not itself a feedback controller. It **owns the [trajectory group (spec §5)](interface_conventions.md#5-trajectory-group-the-trajectory-controllers-contract-onboard-only)**: it consumes `trajectory_controller/trajectory_segment_to_add` and `trajectory_override` (`airstack_msgs/msg/TrajectoryXYZVYaw`), serves the `set_trajectory_mode` service, and emits `tracking_point` and `look_ahead` (`airstack_msgs/msg/Odometry` — not `nav_msgs`). Reference: [Trajectory Controller](../../../robot/ros_ws/src/local/controls/trajectory_controller/README.md).
 - **Feedback controller** — closes the loop between the tracking point and the vehicle's actual state and emits the [`control_setpoint` (spec §6)](interface_conventions.md#6-control_setpoint-controller-interface-command-onboard-only) command into the interface. Reference: `pid_controller` (`robot/ros_ws/src/local/controls/pid_controller` — no README; the cascaded position→velocity PID is described in the [Trajectory Controller README's Control Architecture section](../../../robot/ros_ws/src/local/controls/trajectory_controller/README.md#control-architecture)).
 
-The verified chain in every reference stack (`full_default`, `full_droan_cpu`, `full_macvo`, `lite_default`, `lite_offload_global` onboard) is:
+The verified chain in every reference stack (`full_default`, `full_droan_cpu`, `full_macvo`, `full_mighty`, `lite_default`, `lite_offload_global` onboard) is:
 
 ```text
 trajectory_controller/tracking_point (airstack_msgs/Odometry, §5)
diff --git a/docs/robot/autonomy/adding_a_world_model_and_planner.md b/docs/robot/autonomy/adding_a_world_model_and_planner.md
index 4ad0325c5..6c403ebf4 100644
--- a/docs/robot/autonomy/adding_a_world_model_and_planner.md
+++ b/docs/robot/autonomy/adding_a_world_model_and_planner.md
@@ -49,7 +49,7 @@ Planner variants are named stacks, not launch arguments — the [single-locus ru
 <include file="$(find-pkg-share disparity_expansion)/launch/disparity_expansion.launch.xml" />
 ```
 
-Do the same for yours: `airstack stack new full_default full_my_planner`, then in `stacks/full_my_planner/launch/stack.launch.xml` replace the DROAN include with your planner's include (plus any world-model include it needs). Only deviations from canonical names appear as include args — see how `full_macvo` passes exactly one (`droan_gl_disparity_topic`).
+Do the same for yours: `airstack stack new full_default full_my_planner`, then in `stacks/full_my_planner/launch/stack.launch.xml` replace the DROAN include with your planner's include (plus any world-model include it needs). Only deviations from canonical names appear as include args — see how `full_macvo` passes exactly one (`droan_gl_disparity_topic`). For a planner that ships as an **external module**, the worked example is [full_mighty](../../../stacks/full_mighty/README.md): its `modules.repos` pins the [mighty module](../../modules/mighty.md) (planner + voxel world model + bridge), and the local-planner block is one `mighty_module.launch.xml` include.
 
 **Verify:** `airstack up --stack full_my_planner --sim isaac --robots 1 && airstack ready` succeeds and `ros2 node list` shows your planner in place of DROAN.
 
diff --git a/docs/robot/autonomy_modes.md b/docs/robot/autonomy_modes.md
index 31d0ea382..b1536658f 100644
--- a/docs/robot/autonomy_modes.md
+++ b/docs/robot/autonomy_modes.md
@@ -14,6 +14,7 @@ environment variable is a preflight error.)
 | **`lite_offload_global:offboard`** | Global planner + world model only — runs on the GCS paired with onboard robots |
 | **`full_droan_cpu`** | `full_default` with the CPU DROAN local planner (`droan_local_planner` + `disparity_expansion`) instead of the GPU `droan_gl` node |
 | **`full_macvo`** | `full_default` with MAC-VO as the disparity source — requires `airstack module add asm_macvo` first |
+| **`full_mighty`** | `full_default` with the MIGHTY map-based local planner (`asm_mighty` module: planner + acl-mapping voxel world model + NavigateTask bridge) in place of `droan_gl` |
 
 Instead of picking a stack per container, `airstack up --fleet <name>` launches
 a whole **fleet**: `config/fleets/<name>.yaml` declares who exists, which
diff --git a/mkdocs.yml b/mkdocs.yml
index fe771b31f..662a2780c 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -173,6 +173,7 @@ nav:
           - full_default: stacks/full_default/README.md
           - full_droan_cpu: stacks/full_droan_cpu/README.md
           - full_macvo: stacks/full_macvo/README.md
+          - full_mighty: stacks/full_mighty/README.md
           - lite_default: stacks/lite_default/README.md
           - lite_offload_global: stacks/lite_offload_global/README.md
       - Modules Catalog:
@@ -180,6 +181,7 @@ nav:
           - module.yaml Schema: common/module_schema/README.md
           - dfm2_disturbances: docs/modules/dfm2_disturbances.md
           - macvo: docs/modules/macvo.md
+          - mighty: docs/modules/mighty.md
           - optitrack: docs/modules/optitrack.md
       - Autonomy Packages:
           - Robot Overview: docs/robot/index.md
diff --git a/stacks/full_mighty/README.md b/stacks/full_mighty/README.md
new file mode 100644
index 000000000..0893f5643
--- /dev/null
+++ b/stacks/full_mighty/README.md
@@ -0,0 +1,39 @@
+# full_mighty
+
+`full_default` with the local planner swapped: the DROAN GPU planner
+(`droan_gl`) is replaced by the **MIGHTY** Hermite-spline planner from the
+external **asm_mighty** module (MIT ACL, RA-L 2026), together with its
+acl-mapping voxel world model (fed by the filtered Ouster cloud) and a
+`mighty_bridge` adapter that serves the same `tasks/navigate` NavigateTask
+action and publishes `trajectory_controller/trajectory_segment_to_add`
+segments — so the rest of the stack (trajectory controller, PID, safety
+monitor, takeoff/landing, GCS) is unchanged from `full_default`.
+
+This stack is the module-swap demonstration for the modular architecture:
+the only difference vs `full_default` is one include in
+`launch/stack.launch.xml` plus the `asm_mighty` pin in `modules.repos`.
+
+Bring-up:
+
+```bash
+airstack module sync            # pulls asm_mighty per this stack's modules.repos
+airstack up --stack full_mighty --sim isaac
+```
+
+Notes:
+
+- MIGHTY is CPU-only (no GPU contention with Isaac).
+- The planner needs the module's `nlohmann-json3-dev` dep layer:
+  `airstack module lock --build` before `airstack up`.
+- Planner/world-model tuning lives in the module
+  (`mighty_bridge/config/*_airstack.yaml`).
+- The [asm_mighty repo](https://github.com/castacks/asm_mighty) is **private
+  until the AirStack agent study concludes** (then public) — until the flip,
+  `airstack module sync` needs castacks-member credentials. Registry entry:
+  [modules/mighty.yaml](https://github.com/castacks/airstack-modules-index/blob/main/modules/mighty.yaml);
+  catalog page: [mighty](../../docs/modules/mighty.md).
+- Validation at the pinned version (Isaac Sim, judged on ground truth):
+  44/44 vendored gtests, empty-world NavigateTask route (goal error 0.14 m),
+  7/7 pillar-field traversals, and 5/5 judged obstacle-route flights with
+  min clearances 1.59–1.65 m against a 1.0 m gate — the motivating DROAN
+  comparison (figures + numbers) is in the module README.
diff --git a/stacks/full_mighty/docker-compose.yaml b/stacks/full_mighty/docker-compose.yaml
new file mode 100644
index 000000000..ce3ebf780
--- /dev/null
+++ b/stacks/full_mighty/docker-compose.yaml
@@ -0,0 +1,11 @@
+# Per-stack image composition: the P4 machinery
+# (tools/compose_module_layers.py) composes per-module dependency layers on
+# top of the trunk base image and emits a compose override for `airstack up`.
+#
+# full_mighty pins the asm_mighty module (see modules.repos); its apt dep
+# (nlohmann-json3-dev) enters the robot image via the module's
+# content-addressed dependency layer — `airstack module lock --build`
+# GENERATES that override at lock time, so nothing is committed here. The
+# empty services map keeps this file valid YAML for the stack-anatomy
+# contract (tests/meta/test_stack_layout_contract.py).
+services: {}
diff --git a/stacks/full_mighty/launch/stack.launch.xml b/stacks/full_mighty/launch/stack.launch.xml
new file mode 100644
index 000000000..b032f9562
--- /dev/null
+++ b/stacks/full_mighty/launch/stack.launch.xml
@@ -0,0 +1,139 @@
+<!--
+  full_mighty : full_default with the MIGHTY local planner (asm_mighty module) in place of droan_gl.
+
+  ALL LAYERS FLATTENED (P5-E2 local, P5-E3 the rest): every layer is composed
+  here as a flat set of module-launch includes — each block below reads "this
+  module, these connections". Every module launch file declares its topic
+  endpoints as args with canonical defaults (today's graph), so a bare
+  include means "wired canonically"; only deviations from canonical appear as
+  include args.
+
+  Two blocks stay WRAPPED BY DESIGN (not a migration leftover):
+    - interface.launch.py — MAVROS wiring is dense, FCU_URL is env-computed
+      in python, and the interface layer is the safety boundary (arming,
+      command authority, takeover). It stays a single include until the
+      platform-module refactor (Part 2).
+    - interpolate_dds_router / gossip — cross-domain bridging helpers, not
+      robot-graph modules; their wiring lives in DDS-router YAML configs, so
+      the include + config-file arg IS their single locus.
+  logging.launch.xml is included as-is because it already is a single
+  self-contained module (an env-gated bag recorder behind RECORD_BAGS /
+  LOG_CONFIG) — there is nothing to flatten.
+
+  Launched by autonomy_bringup/launch/robot.launch.xml when AIRSTACK_STACK_DIR
+  points at this folder (set by `airstack up` with the stack flag,
+  e.g. `airstack up ...stack full_default`; see `airstack help up`). The
+  shared preamble (ROBOT_NAME namespace push, use_sim_time,
+  robot_state_publisher, world/map static TF) runs there unconditionally, so
+  it is NOT repeated here.
+
+  Provenance: copied from full_default (airstack stack new); the ONLY wiring
+  difference is the local-planner include (droan_gl -> asm_mighty's
+  mighty_module.launch.xml). wiring.md to be generated from the running graph
+  and committed once the stack is validated in sim.
+-->
+<launch>
+
+  <!-- ── Interface (wrapped by design — see header) ──────────────────────── -->
+
+  <!-- Interface (MAVROS/PX4 hardware interface + safety) -->
+  <include file="$(find-pkg-share interface_bringup)/launch/interface.launch.py" />
+
+  <!-- ── Sensors, flat ───────────────────────────────────────────────────── -->
+
+  <!-- LiDAR near-range filter: raw ouster cloud in, filtered cloud out
+       (canonical defaults, endpoints are node parameters). The namespace
+       group keeps the legacy node path /$ROBOT_NAME/sensors/... -->
+  <group>
+    <push-ros-namespace namespace="sensors" />
+    <include file="$(find-pkg-share lidar_point_cloud_filter)/launch/lidar_point_cloud_filter.launch.xml" />
+  </group>
+
+  <!-- ── Perception, flat ────────────────────────────────────────────────── -->
+
+  <!-- Stereo disparity + point cloud (stereo_image_proc pair): rectified
+       stereo pair in from sensors/front_stereo (canonical); disparity and
+       point_cloud out under perception/stereo_image_proc. (MAC-VO comes via
+       the asm_macvo module — see stacks/full_macvo; OptiTrack via the
+       asm_optitrack module.) -->
+  <include file="$(find-pkg-share perception_bringup)/launch/stereo_image_proc.launch.xml" />
+
+  <!-- Topic keepalive: silently subscribes Isaac Sim's on-demand publishers
+       so they keep publishing with rviz off; no topic endpoints declared -->
+  <include file="$(find-pkg-share perception_bringup)/launch/topic_keepalive.launch.xml" />
+
+  <!-- ── Local layer, flat (module launch files; canonical defaults) ────── -->
+
+  <!-- Takeoff/Land task server: odometry in from odometry_conversion;
+       trajectory_override + mode out to the trajectory controller;
+       arming/extended state from the interface; actions at tasks/{takeoff,land} -->
+  <include file="$(find-pkg-share takeoff_landing_planner)/launch/takeoff_landing_planner.launch.xml" />
+
+  <!-- Fixed-trajectory task server: trajectory_override + mode out to the
+       trajectory controller; action at tasks/fixed_trajectory -->
+  <include file="$(find-pkg-share trajectory_controller)/launch/fixed_trajectory_task.launch.xml" />
+
+  <!-- MIGHTY local planner (asm_mighty module, CPU): filtered Ouster cloud in
+       to its acl-mapping voxel world model, odometry in from
+       odometry_conversion; trajectory_segment_to_add out to the trajectory
+       controller; navigate action at tasks/navigate. Replaces droan_gl
+       (module-swap: this include is the only local-layer difference vs
+       full_default). -->
+  <include file="$(find-pkg-share mighty_bridge)/launch/mighty_module.launch.xml" />
+
+  <!-- Trajectory controller: odometry in from odometry_conversion; serves the
+       trajectory_controller/* topic group (override, segment, mode, tracking
+       point, look_ahead) by relative name in its namespace -->
+  <include file="$(find-pkg-share trajectory_controller)/launch/trajectory_controller.launch.xml" />
+
+  <!-- PID controller: odometry in from odometry_conversion, tracking_point in
+       from the trajectory controller; attitude/thrust command out to the
+       interface (cmd_roll_pitch_yawrate_thrust) -->
+  <include file="$(find-pkg-share pid_controller)/launch/pid_controller.launch.xml" />
+
+  <!-- ── Global, flat ────────────────────────────────────────────────────── -->
+
+  <!-- Global world model: VDB occupancy map; filtered LiDAR cloud in, map
+       visualization out (topics live in the params YAML — cross-package
+       config owned by global_bringup, selected here). NOTE: 'config' is the
+       arg name the vendored vdb_mapping_ros2 launch declares. -->
+  <include file="$(find-pkg-share vdb_mapping_ros2)/launch/vdb_mapping_ros2.py">
+    <arg name="config" value="$(find-pkg-share global_bringup)/config/vdb_params.yaml" />
+  </include>
+
+  <!-- Global planner: random walk. vdb map visualization + odometry in;
+       global_plan out; navigate/exploration actions under tasks/*. The node
+       self-names random_walk_node at the robot root (no namespace push).
+       Swapping the global planner = replacing this include; the alternative
+       trunk planners (exploration) ship no canonical
+       module launch yet — write one in their package first. -->
+  <include file="$(find-pkg-share random_walk_planner)/launch/random_walk_planner.launch.xml" />
+
+  <!-- ── Behavior, flat ──────────────────────────────────────────────────── -->
+
+  <!-- Safety monitor: odometry watchdog (state_estimate in from
+       odometry_conversion); trajectory mode out to the trajectory controller
+       on safety events -->
+  <include file="$(find-pkg-share drone_safety_monitor)/launch/drone_safety_monitor.launch.xml" />
+
+  <!-- ── Logging (already a single self-contained module — see header) ───── -->
+  <include file="$(find-pkg-share logging_bringup)/launch/logging.launch.xml" />
+
+  <!-- ── Cross-domain extras (formerly robot.launch.xml's full-role group) ─ -->
+
+  <!-- Domain Bridge (GCS) -->
+  <include file="$(find-pkg-share autonomy_bringup)/launch/interpolate_dds_router.launch.py">
+    <arg name="dds_router_config_file"
+      value="$(find-pkg-share autonomy_bringup)/config/dds_router.yaml" />
+    <!-- 0 = robot.launch.xml's gcs_domain default -->
+    <arg name="dds_router_args" value="gcs_domain:=0" />
+  </include>
+
+  <!-- Gossip coordination layer -->
+  <include file="$(find-pkg-share coordination_bringup)/launch/gossip.launch.xml">
+    <!-- 99 / 1.0 = robot.launch.xml's gossip_domain / gossip_publish_rate defaults -->
+    <arg name="gossip_domain" value="99" />
+    <arg name="gossip_publish_rate" value="1.0" />
+  </include>
+
+</launch>
diff --git a/stacks/full_mighty/modules.repos b/stacks/full_mighty/modules.repos
new file mode 100644
index 000000000..4bd6cdfe9
--- /dev/null
+++ b/stacks/full_mighty/modules.repos
@@ -0,0 +1,23 @@
+# modules.repos : module pins for the full_mighty stack.
+#
+# vcstool format, PINNED to tags/commits (never branches). `airstack module sync`
+# reads this file into the gitignored modules/ dir; a stack with a pinned .repos
+# IS a localized release set.
+#
+# airstack_compat is a top-level sibling of repositories: (vcstool ignores it,
+# AirStack tooling reads it) declaring the trunk semver range this stack was
+# tested against. sync warns on mismatch; it never gates.
+#
+# full_mighty pulls the asm_mighty module (MIGHTY local planner + acl-mapping
+# world model + NavigateTask bridge); everything else is trunk-resident.
+# asm_mighty lives at castacks/asm_mighty (PRIVATE until the AirStack agent
+# study concludes, then public — until the flip, syncing this stack needs
+# castacks-member credentials). v0.1.1 is code-identical to the validated
+# v0.1.0 (README-only delta).
+airstack_compat: ">=0.20.0-alpha.16 <0.21.0"
+repositories:
+  asm_mighty:
+    type: git
+    url: git@github.com:castacks/asm_mighty.git
+    version: v0.1.1
+x-local-modules: []
diff --git a/tests/meta/fixtures/modules_index/modules/mighty.yaml b/tests/meta/fixtures/modules_index/modules/mighty.yaml
new file mode 100644
index 000000000..5044b5aba
--- /dev/null
+++ b/tests/meta/fixtures/modules_index/modules/mighty.yaml
@@ -0,0 +1,26 @@
+# Registry entry for the mighty module (schema/module-entry.schema.json).
+# airstack_compat is the DECLARED range copied from the module's module.yaml;
+# the VERIFIED matrix lives in compat/mighty.yaml (CI-stamped only).
+name: mighty
+repo: https://github.com/castacks/asm_mighty
+description: >-
+  MIGHTY Hermite-spline local planner (MIT ACL, RA-L 2026) with its
+  acl-mapping voxel world model and a bridge to AirStack's NavigateTask /
+  trajectory_controller seam — a map-based replacement for the DROAN local
+  planner
+maintainer: ajong@andrew.cmu.edu   # Andrew Jong
+license: BSD-3-Clause-Clear
+type: ros_package
+registered_ref: v0.1.1
+airstack_compat: ">=0.20.0-alpha.16 <0.21.0"   # DECLARED (from module.yaml)
+notes: >-
+  Repo is PRIVATE until the AirStack agent study (ICRA 2027 paper, Sec. VI-C)
+  concludes, then flips public — until then the repo/README links 404 for
+  non-members. v0.1.1 is code-identical to v0.1.0 (README-only delta); v0.1.0
+  was validated end-to-end on Isaac Sim: 44/44 vendored gtests, synthetic
+  smoke harness, empty-world NavigateTask flight, 7/7 practice pillar-field
+  traversals, and 5/5 judged obstacle-route flights (min clearances
+  1.59–1.65 m vs a 1.0 m gate). Wrapper packages are BSD-3-Clause-Clear;
+  vendored upstream packages (mighty, DecompROS2, acl-mapping) keep their own
+  permissive licenses — see the module's VENDORED.md. Consumed by trunk
+  reference stack full_mighty.
diff --git a/tests/meta/fixtures/modules_index/stacks/full_mighty.yaml b/tests/meta/fixtures/modules_index/stacks/full_mighty.yaml
new file mode 100644
index 000000000..5dea3ffe3
--- /dev/null
+++ b/tests/meta/fixtures/modules_index/stacks/full_mighty.yaml
@@ -0,0 +1,17 @@
+# Registry entry for the full_mighty trunk reference stack (schema/stack-entry.schema.json).
+name: full_mighty
+repo: https://github.com/castacks/AirStack
+path: stacks/full_mighty
+description: >-
+  Full autonomy with the local planning layer swapped to the MIGHTY module
+  (mighty planner + acl-mapping voxel world model fed by the filtered Ouster
+  cloud + NavigateTask bridge) in place of droan_gl; everything else is
+  identical to full_default
+airstack_compat: ">=0.20.0-alpha.16 <0.21.0"   # from the stack's modules.repos airstack_compat key
+wiring: stacks/full_mighty/wiring.md           # docs site embeds the CI-generated wiring.md from trunk
+notes: >-
+  The module-swap demonstration for the modular architecture: the only
+  difference vs full_default is one include in launch/stack.launch.xml plus
+  the asm_mighty pin in modules.repos (registry: modules/mighty.yaml — repo
+  private until the agent study concludes). wiring.md is pending the stack's
+  first validated wiring-snapshot run.