castacks · andrewjong · Aug 29, 2026 · Aug 28, 2026
diff --git 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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -173,13 +173,15 @@ 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:
           - Catalog: docs/modules/index.md
           - 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
@@ -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
@@ -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: {}