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full_default — trunk reference stack

The full-autonomy topology, as a self-contained stack folder. This is the stack most users start from, the default when no stack is selected, and the baseline other stacks are copied from.

What it launches

The entry point launch/stack.launch.xml composes every layer as a flat set of module-launch includes: LiDAR near-range filter, stereo disparity/point-cloud pair, topic keepalive, takeoff/land task server, fixed-trajectory task server, GPU DROAN planner, trajectory controller, PID controller, VDB mapping, random-walk global planner, and the drone safety monitor — each module launch file declares its topic endpoints as args with canonical defaults, so bare includes mean canonical wiring. Two cross-domain extras run alongside: the DDS-router domain bridge to the GCS and the gossip coordination layer. Two blocks stay wrapped by design: interface.launch.py (the safety boundary) and logging.launch.xml (already a single self-contained module).

Baseline

This stack is the default: with no stack selected, robot.launch.xml launches it. Its committed wiring.md is the observed-graph baseline that other full stacks are compared against. Verify with the wiring snapshot test:

airstack test -m wiring --stack full_default --sim isaacsim --num-robots 1

How to run

airstack up --stack full_default --sim isaac --robots 1
airstack ready

The shared per-robot preamble (ROBOT_NAME namespace, use_sim_time, robot_state_publisher, world→map static TF) runs in autonomy_bringup/launch/robot.launch.xml, which dispatches to this stack when AIRSTACK_STACK_DIR is set.

Known limits

  • The interface layer is a wrapped include (interface.launch.py) — its MAVROS wiring is not visible in stack.launch.xml; read wiring.md for the observed graph.
  • modules.repos pins no external modules yet; every package is trunk-resident.
  • docker-compose.yaml is a stub — per-stack image composition arrives with the first module pins; trunk compose profiles provide all services.

wiring.md

This stack's observed wiring diagram is committed at wiring.md; CI drift-checks the running graph against it. Regenerate via airstack test -m wiring --stack full_default.