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

Repository	castacks/asm_droan
Type	ros_package
Maintainer	ajong@andrew.cmu.edu
License	BSD-3-Clause-Clear
Registered ref	v0.1.0
Declared compat	>=0.21.0-dev.10 <0.22.0
Registry entry	modules/droan.yaml

Install

From an AirStack checkout (AirStack Modules guide):

airstack module add https://github.com/castacks/asm_droan --version v0.1.0
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 >=0.21.0-dev.10 <0.22.0 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/droan.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 @ v0.1.0
• A snapshot of the module repo was fetched into modules/droan/ when this page was generated (docs deploy fetch step).

Registered stacks using this module

• full_droan
• full_droan_cpu
• full_macvo

Registry notes

Public repo. AirStack's in-tree local planner through 0.20.x, extracted with git filter-repo (history preserved) when MIGHTY became the default local planner in 0.21.0-dev.11 (compat floor dev.10 is one catalog-only sync earlier); older trunks still carry these packages in-tree, hence the compat floor. The droan_gl link deps (assimp / EGL / GLFW / GLM) are declared as tier-1 apt deps and enter the robot image via airstack module lock --build (run by airstack up when missing). Pick DROAN for depth-camera-only vehicles or minimal compute; the judged comparison that motivated the MIGHTY default is in the asm_mighty README. Consumed by trunk reference stacks full_droan (GPU), full_droan_cpu (CPU) and full_macvo (GPU, MAC-VO disparity source).