castacks · andrewjong · Sep 11, 2026 · Sep 11, 2026 · Sep 11, 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="0.21.0-dev.11"
+VERSION="0.21.0-dev.12"
 # 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/modules/index.md b/docs/modules/index.md
@@ -34,7 +34,7 @@ The stacks below are the ones REGISTERED in the index; the site nav's
 
 | Stack | Description | Declared compat | Wiring | Registry entry |
 |-------|-------------|-----------------|--------|----------------|
-| [full_default](../../stacks/full_default/README.md) | The full-autonomy topology as a self-contained stack folder, with the MIGHTY map-based local planner (asm_mighty module: planner + acl-mapping voxel world model + NavigateTask bridge) — the baseline most users start from, the default when no stack is selected, and the stack other stacks are copied from | `>=0.21.0-dev.10 <0.22.0` | *not committed yet* | [full_default.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_default.yaml) |
+| [full_default](../../stacks/full_default/README.md) | The full-autonomy topology as a self-contained stack folder, with the MIGHTY map-based local planner (asm_mighty module: planner + acl-mapping voxel world model + NavigateTask bridge) — the baseline most users start from, the default when no stack is selected, and the stack other stacks are copied from | `>=0.21.0-dev.10 <0.22.0` | [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](../../stacks/full_droan/README.md) | Full autonomy with the GPU DROAN reactive local planner (droan_gl, asm_droan module) in place of the default MIGHTY planner — the 0.20.x full_default topology kept as a named stack for depth-camera-only vehicles and legacy comparisons | `>=0.21.0-dev.10 <0.22.0` | [wiring.md](../../stacks/full_droan/wiring.md) | [full_droan.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_droan.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, asm_droan module) in place of the default MIGHTY planner | `>=0.21.0-dev.10 <0.22.0` | [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 DROAN local planner (droan_gl, asm_droan module, consumes /$ROBOT_NAME/perception/macvo/disparity) | `>=0.21.0-dev.10 <0.22.0` | [wiring.md](../../stacks/full_macvo/wiring.md) | [full_macvo.yaml](https://github.com/castacks/airstack-modules-index/blob/main/stacks/full_macvo.yaml) |

diff --git a/docs/release_notes/index.md b/docs/release_notes/index.md
@@ -19,6 +19,17 @@ its own notes. -->
 
 ## 0.21.0 (Unreleased)
 
+- **Wiring baselines for the MIGHTY stacks.** `stacks/full_default/wiring.md`
+  and `stacks/lite_default/wiring.md` are committed from validated Isaac Sim
+  snapshot runs on the 0.21.0-dev.11 robot image (MIGHTY nodes
+  `mighty/{global_mapper_ros,mighty_node,mighty_bridge,mighty_init_pose_tf}`
+  in place of `droan/disparity_expander_node`; the two stacks differ only by
+  the global layer). That image carries MAVROS 2.15.1, which names its plugin
+  sub-nodes `interface/mavros/mavros/<plugin>` (2.14.0: `interface/mavros/<plugin>`),
+  so goldens captured on older images (`full_droan`, `full_droan_cpu`,
+  `full_macvo`) will report drift on freshly built images until they are
+  regenerated.
+
 - Module catalog synced from the registry (`sync-modules-index`): `full_mighty`, `mighty`.
 
 - **MIGHTY is the default local planner; DROAN moved to the `asm_droan`

diff --git a/stacks/full_default/README.md b/stacks/full_default/README.md
@@ -44,9 +44,9 @@ the asm_mighty README.
 ## Baseline
 
 This stack is the default: with no stack selected, `robot.launch.xml`
-launches it. Its `wiring.md` is the observed-graph baseline other full stacks
-are compared against; it is generated by the wiring snapshot test, never
-hand-edited:
+launches it. Its committed [wiring.md](wiring.md) is the observed-graph
+baseline other full stacks are compared against; it is generated by the
+wiring snapshot test, never hand-edited:
 
 ```bash
 airstack test -m wiring --stack full_default --sim isaacsim --num-robots 1
@@ -73,20 +73,18 @@ The shared per-robot preamble (ROBOT_NAME namespace, `use_sim_time`,
 ## Known limits
 
 - The interface layer is a wrapped include (`interface.launch.py`) — its
-  MAVROS wiring is not visible in `stack.launch.xml`; read the wiring
-  snapshot for the observed graph.
+  MAVROS wiring is not visible in `stack.launch.xml`; read `wiring.md` for
+  the observed graph.
 - MIGHTY needs a 3D lidar cloud (`sensors/ouster/point_cloud` by default);
   depth-camera-only vehicles use `full_droan` / `full_droan_cpu`.
 - `docker-compose.yaml` is a stub: the pinned module has no dependency layer,
   so trunk compose profiles provide all services.
 
 ## wiring.md
 
-This stack's observed wiring diagram lives at `wiring.md` once a validated
-wiring-snapshot run commits it; CI then drift-checks the running graph
-against it. Until then the snapshot test passes with a bootstrap instruction
-naming the observed file to validate and copy in (mechanism:
-[Stacks → wiring.md](../../docs/development/stacks.md#wiringmd-generation-and-drift-checking)).
-Generate or regenerate via `airstack test -m wiring --stack full_default`.
-The previous default topology's baseline is
-[`full_droan/wiring.md`](../full_droan/wiring.md).
+This stack's observed wiring diagram is committed at [wiring.md](wiring.md);
+CI drift-checks the running graph against it. Regenerate via
+`airstack test -m wiring --stack full_default`. The previous default
+topology's baseline is [`full_droan/wiring.md`](../full_droan/wiring.md) —
+the two differ only in the local-planner nodes (`mighty/*` vs
+`droan/disparity_expander_node`).