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full_mighty

full_default with the local planner swapped: the DROAN GPU planner (droan_gl) is replaced by the MIGHTY Hermite-spline planner from the 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 monitor, takeoff/landing, GCS) is unchanged from full_default.

This stack is the module-swap demonstration for the modular architecture: the only difference vs full_default is one include in launch/stack.launch.xml plus the asm_mighty pin in modules.repos.

Bring-up:

airstack module sync            # pulls asm_mighty per this stack's modules.repos
airstack up --stack full_mighty --sim isaac

Notes:

  • MIGHTY is CPU-only (no GPU contention with Isaac).
  • The planner needs the module's nlohmann-json3-dev dep layer: airstack module lock --build before airstack up.
  • Planner/world-model tuning lives in the module (mighty_bridge/config/*_airstack.yaml).
  • The asm_mighty repo is private until the AirStack agent study concludes (then public) — until the flip, airstack module sync needs castacks-member credentials. Registry entry: modules/mighty.yaml; catalog page: mighty.
  • 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.