MIGHTY is the default local planner; DROAN extracted to the asm_droan module (0.21.0-dev.11)

.agents/skills/add-ros2-package/SKILL.md

@@ -115,7 +115,7 @@ Define package metadata and dependencies:
 </package>
 ```
 
-**Reference:** `robot/ros_ws/src/local/planners/droan_local_planner/package.xml`
+**Reference:** `robot/ros_ws/src/local/planners/takeoff_landing_planner/package.xml`
 
 ### 4. Create CMakeLists.txt (for C++)
 
@@ -183,7 +183,7 @@ endif()
 ament_package()
 ```
 
-**Reference:** `robot/ros_ws/src/local/planners/droan_local_planner/CMakeLists.txt`
+**Reference:** `robot/ros_ws/src/local/planners/takeoff_landing_planner/CMakeLists.txt`
 
 ### 5. Create setup.py (for Python)
 
@@ -514,7 +514,7 @@ After creating the package:
   - [Using Parameters](https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Using-Parameters-In-A-Class-CPP.html)
 
 - **AirStack Examples:**
-  - Reference planner: `robot/ros_ws/src/local/planners/droan_local_planner`
+  - Reference planner (task server): `robot/ros_ws/src/local/planners/takeoff_landing_planner`; module-shipped local planners: asm_mighty `mighty_bridge/`, asm_droan `droan_local_planner/`
   - Reference controller: `robot/ros_ws/src/local/controls/trajectory_controller`
   - Package template: `assets/package_template/`
 

.agents/skills/add-ros2-package/assets/package_template/package.xml

@@ -65,7 +65,7 @@
   <!-- Trajectory generation (for planners) -->
   <!-- <depend>trajectory_library</depend> -->
 
-  <!-- Cost maps (for local planners) -->
+  <!-- Cost maps (for DROAN-style local planners; ships in the asm_droan module) -->
   <!-- <depend>cost_map_interface</depend> -->
 
   <!-- ============================================ -->

.agents/skills/create-stack/SKILL.md

@@ -45,7 +45,7 @@ airstack stack new full_default my_experiment  # refuses overwrite
 ```
 
 Pick the closest starting point: `full_default` (everything onboard),
-`lite_default` (no global/logging), `full_droan_cpu`, `full_macvo`.
+`lite_default` (no global/logging), `full_droan`, `full_droan_cpu`, `full_macvo`.
 `stack new` deliberately does **not** copy `wiring.md` — that file is the
 *source* stack's observed graph and would lie about yours.
 

.agents/skills/debug-module/SKILL.md

@@ -297,23 +297,24 @@ Study a working similar module:
 
 ```bash
 # Find reference implementation
-# Example: if debugging a planner, study droan_local_planner
+# Example: if debugging a planner, study the default MIGHTY bridge
+# (modules/asm_mighty/mighty_bridge after `airstack up` synced it)
 
 # Compare:
 # 1. Package structure
-ls -la robot/ros_ws/src/local/planners/droan_local_planner/
+ls -la modules/asm_mighty/mighty_bridge/
 ls -la robot/ros_ws/src/local/planners/your_planner/
 
 # 2. Topic structure
-docker exec airstack-robot-desktop-1 bash -c "ros2 node info /robot/droan/droan_planner"
+docker exec airstack-robot-desktop-1 bash -c "ros2 node info /robot/mighty/mighty_bridge"
 docker exec airstack-robot-desktop-1 bash -c "ros2 node info /robot/your_planner/your_node"
 
 # 3. Message timing
-docker exec airstack-robot-desktop-1 bash -c "ros2 topic hz /robot/droan/output"
+docker exec airstack-robot-desktop-1 bash -c "ros2 topic hz /robot/trajectory_controller/trajectory_override"
 docker exec airstack-robot-desktop-1 bash -c "ros2 topic hz /robot/your_planner/output"
 
 # 4. Data ranges
-docker exec airstack-robot-desktop-1 bash -c "ros2 topic echo /robot/droan/output --once"
+docker exec airstack-robot-desktop-1 bash -c "ros2 topic echo /robot/trajectory_controller/trajectory_override --once"
 docker exec airstack-robot-desktop-1 bash -c "ros2 topic echo /robot/your_planner/output --once"
 ```
 

.agents/skills/update-documentation/SKILL.md

@@ -356,7 +356,7 @@ nav:
           - Local:
               # Existing modules
               - Trajectory Library: robot/ros_ws/src/local/planners/trajectory_library/README.md
-              - DROAN Local Planner: robot/ros_ws/src/local/planners/droan_local_planner/README.md
+              - Takeoff Landing Planner: robot/ros_ws/src/local/planners/takeoff_landing_planner/README.md
                   # Add your module HERE
                   - Your Module Name:
                       - robot/ros_ws/src/local/planners/your_package/README.md
@@ -393,8 +393,8 @@ trajectory generation based on local sensor observations.
 
 ## Available Modules
 
-### DROAN Local Planner
-Disparity-space representation for obstacle avoidance. See [DROAN Local Planner](../../../robot/ros_ws/src/local/planners/droan_local_planner/README.md).
+### MIGHTY (default, module)
+Map-based Hermite-spline local planner with its acl-mapping voxel world model. See the [mighty module page](../../../docs/modules/mighty.md).
 
 ### Your Module Name
 Brief one-sentence description of your module.
@@ -465,7 +465,7 @@ graph TB
     GlobalPlanning[Global Planning] -->|Global Plan| LocalPlanning
 
     subgraph "Local Planning Layer"
-        LocalPlanning --> DROAN[DROAN Planner]
+        LocalPlanning --> MIGHTY[MIGHTY Planner]
         LocalPlanning --> YourModule[Your Module]
         LocalPlanning --> TakeoffLanding[Takeoff/Landing]
     end
@@ -739,7 +739,7 @@ feat: Add YourModule local planner
 
 - **AirStack:**
   - Documentation template: `../add-ros2-package/assets/package_template/README.md`
-  - Example README: `robot/ros_ws/src/local/planners/droan_local_planner/README.md`
+  - Example README: `robot/ros_ws/src/local/planners/takeoff_landing_planner/README.md`
   - mkdocs.yml: Repository root
 
 - **Related Skills:**

.agents/skills/use-airstack-cli/SKILL.md

@@ -184,8 +184,11 @@ airstack stack diff <a> <b> [--json] # compare generated wiring graphs (nodes/ed
 airstack up --stack <name>[:<entry>] # run one
 ```
 
-Reference stacks today: `full_default` (the no-stack default), `full_droan_cpu`,
-`full_macvo`, `lite_default`, `lite_offload_global` (split: `:onboard`/`:offboard`).
+Reference stacks today: `full_default` (the no-stack default; MIGHTY planner via
+the `asm_mighty` module), `full_droan`, `full_droan_cpu`, `full_macvo`
+(`asm_droan` module), `lite_default`, `lite_offload_global` (split:
+`:onboard`/`:offboard`). `airstack up` reconciles the selected stack's
+`modules.repos` pins (add + sync + `lock --build`) before launching.
 
 ### Fleets
 

.agents/skills/write-launch-file/SKILL.md

@@ -100,7 +100,7 @@ A stack folder (`stacks/<name>/`) is the unit of topology — see [docs/developm
 2. **One `<include>` per module.** Pass the module's declared topic args to wire it:
 
 ```xml
-<!-- Local planner: disparity from MAC-VO instead of stereo -->
+<!-- Local planner (asm_droan module): disparity from MAC-VO instead of stereo — stacks/full_macvo -->
 <include file="$(find-pkg-share droan_gl)/launch/droan_gl.launch.xml">
   <arg name="droan_gl_disparity_topic"
        value="/$(env ROBOT_NAME)/perception/macvo/disparity" />
@@ -191,7 +191,7 @@ If `ros2 node info` shows a node subscribing to `/odometry` instead of `/<robot_
 
 - **Stacks:** [docs/development/stacks.md](../../../docs/development/stacks.md) — anatomy, wiring.md generation, the AUTONOMY_ROLE removal/migration table
 - **Canonical topic names:** [docs/robot/autonomy/integration_checklist.md](../../../docs/robot/autonomy/integration_checklist.md)
-- **Reference stack launch files:** `stacks/full_default/launch/stack.launch.xml`, `stacks/full_droan_cpu/`, `stacks/full_macvo/`
+- **Reference stack launch files:** `stacks/full_default/launch/stack.launch.xml` (MIGHTY module include), `stacks/full_droan/`, `stacks/full_droan_cpu/`, `stacks/full_macvo/`
 - **Lint:** `tests/meta/test_launch_single_locus.py` + `tests/meta/launch_lint_allowlist.txt`
 - **ROS 2 docs:** [Launch tutorials](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Launch/Launch-Main.html) · [Launch XML format](https://design.ros2.org/articles/roslaunch_xml.html)
 - **Related skills:** [add-ros2-package](../add-ros2-package) · [integrate-module-into-layer](../integrate-module-into-layer) (legacy wrap-form path) · [debug-module](../debug-module) · [test-in-simulation](../test-in-simulation)

.agents/skills/write-mkdocs-documentation/SKILL.md

@@ -207,7 +207,7 @@ The `mkdocs-same-dir` plugin is enabled, allowing references to files outside `d
 nav:
   - Robot:
       - Local Planners:
-          - DROAN: robot/ros_ws/src/local/planners/droan_local_planner/README.md
+          - Takeoff Landing Planner: robot/ros_ws/src/local/planners/takeoff_landing_planner/README.md
           - My Planner: robot/ros_ws/src/local/planners/my_planner/README.md
 ```
 
@@ -223,7 +223,7 @@ nav:
 - Module-specific interfaces, parameters, configuration
 - Usage examples for that specific module
 
-**Example:** `robot/ros_ws/src/local/planners/droan_local_planner/README.md`
+**Example:** `robot/ros_ws/src/local/planners/takeoff_landing_planner/README.md`
 
 ### System-Level Documentation
 
@@ -1071,7 +1071,7 @@ docs: Add comprehensive guide for new feature
 - [GitHub Flavored Markdown](https://github.github.com/gfm/)
 
 **AirStack Examples:**
-- Module README: `robot/ros_ws/src/local/planners/droan_local_planner/README.md`
+- Module README: `robot/ros_ws/src/local/planners/takeoff_landing_planner/README.md`
 - System docs: `docs/robot/autonomy/system_architecture.md`
 - Tutorial: `docs/development/beginner/key_concepts.md`
 

.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.10"
+VERSION="0.21.0-dev.11"
 # 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).

.vscode/c_cpp_properties.json

@@ -21,14 +21,8 @@
         "/home/andrew/Development/AirStack/robot/ros_ws/src/interface/robot_interface/include/**",
         "/home/andrew/Development/AirStack/robot/ros_ws/src/local/controls/mav_comm/mav_msgs/include/**",
         "/home/andrew/Development/AirStack/robot/ros_ws/src/local/controls/mav_comm/mav_planning_msgs/include/**",
-        "/home/andrew/Development/AirStack/robot/ros_ws/src/local/planners/droan_gl/include/**",
-        "/home/andrew/Development/AirStack/robot/ros_ws/src/local/planners/droan_local_planner/include/**",
         "/home/andrew/Development/AirStack/robot/ros_ws/src/local/planners/takeoff_landing_planner/include/**",
         "/home/andrew/Development/AirStack/robot/ros_ws/src/local/planners/trajectory_library/include/**",
-        "/home/andrew/Development/AirStack/robot/ros_ws/src/local/world_models/cost_map_interface/include/**",
-        "/home/andrew/Development/AirStack/robot/ros_ws/src/local/world_models/disparity_expansion/include/**",
-        "/home/andrew/Development/AirStack/robot/ros_ws/src/local/world_models/disparity_graph/include/**",
-        "/home/andrew/Development/AirStack/robot/ros_ws/src/local/world_models/disparity_graph_cost_map/include/**",
         "/home/andrew/Development/AirStack/simulation/simple-sim/ros_ws/src/sim/include/**",
         "/usr/include/**"
       ],

AGENTS.md

@@ -64,7 +64,7 @@ Sensors → Perception → World Models → Planners → Controllers → Interfa
 ```
 
 Each layer has:
-- **Module packages**: Individual algorithm implementations (e.g., `droan_local_planner`)
+- **Module packages**: Individual algorithm implementations (e.g., `takeoff_landing_planner`, or a module repo's `mighty_bridge`)
 - **Stack entry launch files**: The launch topology and topic remapping live in the selected stack (e.g., `stacks/full_default/launch/stack.launch.xml`), not in per-layer bringup packages (the old `local_bringup`-style packages were removed)
 
 **Key Insight:** Understanding "what connects to what" is critical. See [Integration Checklist](docs/robot/autonomy/integration_checklist.md) and [System Architecture](docs/robot/autonomy/system_architecture.md).
@@ -150,8 +150,8 @@ Study these well-structured modules as examples for different types:
 
 | Module Type | Reference Package | Location |
 |------------|------------------|----------|
-| **Local Planner** | DROAN Local Planner | `robot/ros_ws/src/local/planners/droan_local_planner` |
-| **Local World Model** | Disparity Expansion | `robot/ros_ws/src/local/world_models/disparity_expansion` |
+| **Local Planner** | MIGHTY bridge (module, default) / DROAN Local Planner (module) | [asm_mighty](https://github.com/castacks/asm_mighty) `mighty_bridge/` · [asm_droan](https://github.com/castacks/asm_droan) `droan_local_planner/` |
+| **Local World Model** | Disparity Expansion (module) | [asm_droan](https://github.com/castacks/asm_droan) `disparity_expansion/` |
 | **Controller** | Trajectory Controller | `robot/ros_ws/src/local/controls/trajectory_controller` |
 | **Global Planner** | Random Walk | `robot/ros_ws/src/global/planners/random_walk` |
 | **Global World Model** | VDB Mapping | `robot/ros_ws/src/global/world_models/vdb_mapping_ros2` |

airstack.sh

@@ -176,6 +176,9 @@ function print_command_help {
             echo "  --stack NAME        Launch a stack folder (stacks/NAME/launch/stack.launch.xml)."
             echo "                      Stacks are the only launch dispatch; no --stack (and no stack"
             echo "                      env) launches the trunk reference stack full_default."
+            echo "                      The stack's modules.repos pins are reconciled before launch:"
+            echo "                      missing modules are added + synced, and their dependency"
+            echo "                      layers composed (airstack module lock --build) when absent."
             echo "                      NAME:ENTRY selects an alternate entry file"
             echo "                      (launch/ENTRY.launch.xml). See docs/development/stacks.md."
             echo "  --fleet NAME        Launch a fleet (config/fleets/NAME.yaml): exports FLEET_CONFIG_FILE,"
@@ -1693,6 +1696,116 @@ function preflight_up {
     return $errors
 }
 
+# Reconcile the selected stack's module pins with the checkout (RFC #379 §3:
+# a stack's pinned modules.repos IS its release set). For every git repo the
+# stack's stacks/<name>/modules.repos pins:
+#   - absent from the checkout-root modules.repos → added at the stack's pin
+#     (then one `airstack module sync`);
+#   - present at a DIFFERENT pin → left alone and named (an explicit local
+#     deviation wins; every deviation is reported, never silently overridden);
+#   - present at the same pin but not checked out under modules/ → synced.
+# Then, when the layer plan has docker-relevant steps and the generated
+# compose carries no image override, the dependency layers are composed
+# (`airstack module lock --build`) unless AIRSTACK_NO_IMAGE_BUILD=1 forbids
+# implicit builds. --dry-run / --config-only only REPORT what would happen —
+# they never touch modules.repos, clone, or build. Opt out entirely with
+# AIRSTACK_NO_STACK_MODULE_SYNC=1.
+function reconcile_stack_modules {
+    [[ "${AIRSTACK_NO_STACK_MODULE_SYNC:-}" == "1" ]] && return 0
+    local stack_dir_container stack_name stack_repos
+    stack_dir_container=$(resolve_launch_var AIRSTACK_STACK_DIR "$@")
+    stack_name="${stack_dir_container##*/}"
+    [[ -z "$stack_name" ]] && return 0
+    stack_repos="$PROJECT_ROOT/stacks/$stack_name/modules.repos"
+    [[ -f "$stack_repos" ]] || return 0
+    command -v python3 >/dev/null 2>&1 || return 0
+
+    # One line per pinned git module: <name>\t<url>\t<version>\t<status>
+    # status ∈ add | resync | deviates:<local-version> | ok
+    local plan
+    plan=$(STACK_REPOS="$stack_repos" ROOT_REPOS="$PROJECT_ROOT/modules.repos" \
+           MODULES_DIR="$PROJECT_ROOT/modules" python3 - <<'PY'
+import os, yaml
+def load(path):
+    if not os.path.isfile(path):
+        return {}
+    with open(path, encoding="utf-8") as f:
+        return yaml.safe_load(f) or {}
+stack = (load(os.environ["STACK_REPOS"])).get("repositories") or {}
+root_doc = load(os.environ["ROOT_REPOS"])
+root = root_doc.get("repositories") or {}
+# a local-path module of the same name is an explicit deviation too
+local = {e.get("name"): e.get("path", "") for e in (root_doc.get("x-local-modules") or []) if isinstance(e, dict)}
+mods = os.environ["MODULES_DIR"]
+for name, entry in sorted(stack.items()):
+    if not isinstance(entry, dict) or entry.get("type", "git") != "git":
+        continue
+    url, ver = entry.get("url", ""), str(entry.get("version", ""))
+    checkout = os.path.join(mods, name)
+    if name in local:
+        status = "deviates:local path " + local[name]
+    elif name not in root:
+        status = "add"
+    elif str(root[name].get("version", "")) != ver:
+        status = "deviates:" + str(root[name].get("version", ""))
+    elif not (os.path.isdir(os.path.join(checkout, ".git")) or os.path.islink(checkout)):
+        status = "resync"
+    else:
+        status = "ok"
+    print(f"{name}\t{url}\t{ver}\t{status}")
+PY
+) || return 0
+    [[ -z "$plan" ]] && return 0
+
+    local report_only=0
+    [[ "$AIRSTACK_DRY_RUN" == "1" || "$AIRSTACK_CONFIG_ONLY" == "1" ]] && report_only=1
+
+    local need_sync=0 name url ver status
+    while IFS=$'\t' read -r name url ver status; do
+        [[ -z "$name" ]] && continue
+        case "$status" in
+            add)
+                if (( report_only )); then
+                    log_info "stack $stack_name pins module $name @ $ver — would add + sync (skipped: dry-run)"
+                else
+                    log_info "stack $stack_name pins module $name @ $ver — adding to modules.repos"
+                    MODULE_ENTRY_NAME="$name" MODULE_ENTRY_KIND="git" \
+                        MODULE_ENTRY_URL="$url" MODULE_ENTRY_VERSION="$ver" _module_repos_upsert || return 1
+                fi
+                need_sync=1 ;;
+            resync)
+                (( report_only )) || log_info "stack $stack_name pins module $name @ $ver — checkout missing, syncing"
+                need_sync=1 ;;
+            deviates:*)
+                log_warn "stack $stack_name pins module $name @ $ver but this checkout has it @ ${status#deviates:} — keeping the checkout's pin (named deviation)" ;;
+        esac
+    done <<< "$plan"
+
+    if (( need_sync )) && (( ! report_only )); then
+        cmd_module_sync || return 1
+    fi
+
+    # Dependency layers: plan has steps but nothing composed → build (implicit
+    # image build, same policy as compose's own missing-image build).
+    local plan_json="$PROJECT_ROOT/.airstack/generated/layer_plan.json"
+    local gen_compose="$PROJECT_ROOT/.airstack/generated/docker-compose.modules.yaml"
+    if [[ -f "$plan_json" ]] && ! grep -q "image:" "$gen_compose" 2>/dev/null && \
+       LAYER_PLAN_JSON="$plan_json" python3 -c '
+import json, os, sys
+plan = json.load(open(os.environ["LAYER_PLAN_JSON"]))
+sys.exit(0 if any(h.get("steps") for h in plan.values()) else 1)' 2>/dev/null; then
+        if (( report_only )); then
+            log_info "module dependency layers are planned but not composed — would run: airstack module lock --build (skipped: dry-run)"
+        elif [[ "${AIRSTACK_NO_IMAGE_BUILD:-}" == "1" ]]; then
+            log_warn "module dependency layers are planned but not composed and AIRSTACK_NO_IMAGE_BUILD=1 — containers will run the BASE image. Run: airstack module lock --build"
+        else
+            log_info "Composing module dependency layers (airstack module lock --build)..."
+            cmd_module_lock --build || return 1
+        fi
+    fi
+    return 0
+}
+
 function cmd_up {
     # Airstack launch-intent flags (consumed before compose sees the args)
     local rest_args=()
@@ -1701,6 +1814,13 @@ function cmd_up {
     if [[ "$AIRSTACK_CONFIG_ONLY" != "1" ]]; then
         check_docker
     fi
+    # Stack module pins → checkout (add/sync/compose as needed; reports only
+    # under --dry-run / --config-only). Runs before the module overlay check
+    # below so a freshly synced module's compose override is picked up.
+    if ! reconcile_stack_modules "${rest_args[@]}"; then
+        log_error "Could not reconcile the selected stack's module pins — not starting services. (AIRSTACK_NO_STACK_MODULE_SYNC=1 to skip.)"
+        exit 1
+    fi
 
     local global_args=()
     local subcmd_args=()