stacks(full_mighty): pin asm_mighty v0.1.3 (bridge TRACK-mode fix, arrival yaw, grid-seam + altitude launch args)

v0.1.1 hangs on AirStack 0.20.x: takeoff_landing_task leaves the trajectory controller in
ROBOT_POSE, where trajectory_override is merged but never flown, so MIGHTY commits one
trajectory and idles in GOAL_SEEN ("never replans"). asm_mighty v0.1.2 sets TRACK before
forwarding overrides, bounds/preempts NavigateTask goals, drops stale global_plan routes and
turns to the goal yaw on arrival; v0.1.3 adds launch args for the mapper->planner grid seam and
the altitude band (defaults unchanged).

README + launch comment: the bridge publishes trajectory_override (not
trajectory_segment_to_add, stale since asm_mighty v0.1.1); the repo is public now.
Registry follow-up: airstack-modules-index modules/mighty.yaml registered_ref v0.1.1 -> v0.1.3
(docs/modules/mighty.md and tests/meta fixtures are mirrored from it, not edited here).

VERSION 0.21.0-dev.8 -> 0.21.0-dev.9.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>

Author: andrewjong

.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="0.21.0-dev.8"
+VERSION="0.21.0-dev.9"
 # 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).

stacks/full_mighty/README.md

@@ -5,8 +5,8 @@
 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
+action and publishes receding-horizon `trajectory_controller/trajectory_override`
+trajectories — 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:
@@ -27,13 +27,27 @@ Notes:
   `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:
+- The [asm_mighty repo](https://github.com/castacks/asm_mighty) is public.
+  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.
+- **Pin v0.1.3 or newer on AirStack 0.20.x.** `takeoff_landing_task` leaves
+  the trajectory controller in ROBOT_POSE, where `trajectory_override` is
+  merged but never flown; the v0.1.1 bridge assumed no mode management, so
+  MIGHTY committed one trajectory and idled in GOAL_SEEN ("never replans").
+  v0.1.2 sets TRACK before forwarding overrides, bounds and preempts
+  NavigateTask goals, drops stale `global_plan` routes, and turns the vehicle
+  to the goal pose's yaw on arrival (MIGHTY drops the goal orientation;
+  `arrival_yaw` param). v0.1.3 adds launch args for the mapper->planner grid
+  seam (`mighty_*_grid_topic`, to interpose a constraint node) and the
+  altitude band (`mighty_z_min`, `mighty_mapper_z_ground`,
+  `mighty_mapper_z_min_unknown`, for missions below the takeoff point);
+  defaults unchanged. Changelog in the module README.
+- Validation: the judged campaign ran at v0.1.0 (code-identical to v0.1.1;
+  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. The v0.1.2 bridge fixes were verified in closed-loop Isaac
+  flights (NavigateTask goal reached within 0.1 m; arrival yaw within 10°);
+  the judged campaign has not been re-run at v0.1.3.

stacks/full_mighty/launch/stack.launch.xml

@@ -75,8 +75,9 @@
 
   <!-- 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
+       odometry_conversion; trajectory_override out to the trajectory
+       controller (the bridge sets TRACK mode itself); 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" />

stacks/full_mighty/modules.repos

@@ -10,14 +10,18 @@
 #
 # 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).
+# asm_mighty lives at castacks/asm_mighty (public). v0.1.0 is the judged-eval
+# validated release (v0.1.1 = README-only delta). v0.1.2 fixes the bridge for
+# AirStack 0.20.x: takeoff leaves the trajectory controller in ROBOT_POSE, where
+# trajectory_override is merged but never flown, so on v0.1.1 MIGHTY commits one
+# trajectory and idles ("never replans"); the bridge now sets TRACK, bounds and
+# preempts NavigateTask goals, and turns to the goal yaw on arrival (MIGHTY drops
+# the goal orientation). v0.1.3 adds launch args for the mapper->planner grid
+# seam and the altitude band (defaults unchanged).
 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
+    version: v0.1.3
 x-local-modules: []