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Module & Stack Catalog

The marketplace catalog of registered AirStack modules and stacks, rendered from the airstack-modules-index registry — one YAML entry per module or stack, rosdistro-style. Getting listed = a PR to the registry (see the registry README).

Compatibility shown here is the author-DECLARED semver range; the VERIFIED matrix is CI-stamped into the registry's compat/ directory and is never hand-edited.

Registered modules

Module Description Type Maintainer Declared compat Links
dfm2_disturbances 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
macvo 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 · full_macvo
mighty 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 · full_mighty
optitrack 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

Registered stacks

A stack is a self-contained topology folder; its pinned modules.repos is a tested-together release set. The stacks below are the ones REGISTERED in the index; the site nav's Modules → Reference Stacks additionally lists every trunk stack (not every trunk stack is registered in the index).

Stack Description Declared compat Wiring Registry entry
full_default 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 full_default.yaml
full_droan_cpu 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 full_droan_cpu.yaml
full_macvo 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 full_macvo.yaml
full_mighty 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

See also