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

Repository	castacks/asm_macvo
Type	ros_package
Maintainer	ajong@andrew.cmu.edu
License	BSD-3-Clause-Clear
Registered ref	431d7faf1f6f
Declared compat	>=0.19.0-alpha.18 <0.20.0
Registry entry	modules/macvo.yaml

Install

From an AirStack checkout (AirStack Modules guide):

airstack module add https://github.com/castacks/asm_macvo --version 431d7faf1f6fed20d415bb5e5a88d8dcb0d180df
airstack up

module add pins the module in modules.repos and syncs it into the gitignored modules/ overlay; airstack up automatically includes the generated compose override that mounts it into the containers.

Compatibility: declared vs verified

The range >=0.19.0-alpha.18 <0.20.0 is DECLARED by the module author (copied from the module's module.yaml). The VERIFIED record — rows stamped exclusively by CI runs of the reusable module-system-tests workflow — lives in the registry's compat/ matrix (compat/macvo.yaml once stamped). A compatibility claim that isn't CI-verified rots: trust the matrix, read the declaration as intent.

Documentation

• Module README on GitHub @ 431d7faf1f6f
• A snapshot of the module repo was fetched into modules/macvo/ when this page was generated (docs deploy fetch step).

Registered stacks using this module

• full_macvo

Registry notes

registered_ref is a commit SHA because no release tag exists yet: v0.1.0 is pending the first green module-system-tests.yml CI run. MAC-VO's heavy deps (TensorRT, torch, model weights) live in the module's Dockerfile.module (Docker dependency tier 2), keeping them out of the base robot image. Composed-image CI validation (declared marks build_docker + liveliness against the tier-2 layer chain) is still pending — unlike dfm2_disturbances/optitrack, this module has not yet been validated end-to-end. Consumed by trunk reference stack full_macvo.