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Local Packages

The local layer closes the robot's short-range sense-plan-act loop: a fast local world model built from live sensor data, a local planner that avoids obstacles the global map is too slow or too coarse to capture, and the controllers that turn planned trajectories into commands for the interface. The loop is coupled through the trajectory controller's trajectory group — the local planner streams trajectories (receding-horizon overrides for MIGHTY, look-ahead-anchored segments for DROAN) to the controller, which tracks them.

Sub-layers

  • World Model — the planner's short-range obstacle representation: MIGHTY's sliding voxel map (default) or DROAN's disparity-space C-space expansion
  • Planning — the local planner (MIGHTY by default; DROAN as the alternative): turns the global plan into short, collision-free trajectories
  • Controls — trajectory controller (tracking/look-ahead point management) and PID controller (attitude/thrust commands)

Launch

Local modules ship their own canonical launch files and are composed flat by the selected stack's entry launch file (stacks/<name>/launch/*.launch.xml) — the trunk stacks include takeoff_landing_planner, the trajectory controller, the local planner (mighty_module.launch.xml from the asm_mighty module in full_default; droan_gl.launch.xml from asm_droan in full_droan), and the PID controller directly; see stacks/full_default/launch/stack.launch.xml for the composed wiring. The planner modules are external repos pinned in each stack's modules.repos; airstack up syncs them when missing.

Key Interchanges

  • global_plan (§4) — the coarse path handed down from the global layer; the local planner's main input
  • trajectory group (§5) — the trajectory controller's onboard-only contract: trajectory_segment_to_add, trajectory_override, tracking_point, look_ahead
  • control_setpoint (§6) — the PID controller's command into the interface layer

See Also