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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
droan DROAN disparity-space local obstacle avoidance — the GPU (OpenGL) droan_gl planner and the CPU droan_local_planner with its disparity_expansion / disparity_graph / disparity_graph_cost_map world model, serving AirStack's NavigateTask / trajectory_controller seam from a stereo disparity image ros_package ajong@andrew.cmu.edu >=0.21.0-dev.10 <0.22.0 repo · full_droan · full_droan_cpu · full_macvo
exploration_planner Frontier-based geometric exploration global planner — OpenVDB occupancy map, frontier clustering, bounded viewpoint sampling and an RRT path to the chosen viewpoint, published as global_plan; developed for the CMU AirLab construction-site project ros_package ajong@andrew.cmu.edu >=0.21.0-dev.8 <0.22.0 repo · full_exploration
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 — AirStack's default local planner (the map-based replacement for DROAN) ros_package ajong@andrew.cmu.edu >=0.21.0-dev.10 <0.22.0 repo · full_default · full_exploration · full_raven
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
raven RAVEN semantic aerial navigation (ICRA 2026) — the RayFronts open-set semantic ray-frontier map and behavior manager (voxel, ray, LVLM and frontier search) in a GPU sidecar container publishing global_plan toward a natural-language target, plus the raven_bridge plan/prompt relay on the robot ros_package ajong@andrew.cmu.edu >=0.21.0-dev.8 <0.22.0 repo · full_raven

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 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 full_default.yaml
full_droan 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 full_droan.yaml
full_droan_cpu 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 full_droan_cpu.yaml
full_exploration Full autonomy (full_default topology: MIGHTY LiDAR-based local planner) with the frontier-based geometric exploration planner (exploration_planner module) in place of the random walk; everything else is identical to full_default >=0.21.0-dev.8 <0.22.0 not committed yet full_exploration.yaml
full_macvo 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 full_macvo.yaml
full_raven Full autonomy (full_default topology: MIGHTY LiDAR-based local planner) with RAVEN open-set semantic navigation as the global planner (RayFronts GPU sidecar container + raven_bridge); everything else is identical to full_default >=0.21.0-dev.8 <0.22.0 not committed yet full_raven.yaml

See also