Modular AirStack 4/9: asm_optitrack extraction, local-layer flatten - #391
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…ks/asm_optitrack Trunk now carries zero natnet code. The module owns the whole mocap loop: natnet_ros2 client + EV-fusion bridges, the Isaac Sim NatNet emulator extension (moved with the module per its maintainer — it was the main value of the OptiTrack PRs), the natnet Isaac launch scripts, the integration + optitrack e2e tests, docs, and the optitrack-development skill. - perception.launch.xml: LAUNCH_NATNET gate removed (stack include is the activation path — RFC #379's answer to env toggles); the env var warns for one release via preflight - airstack setup: cmd_setup_natnet_sdk generalized to 'module sync' (module hooks.host_setup cover host-side SDK downloads); --no-natnet removed - compose: LAUNCH_NATNET/NATNET_SERVER_IP env + emulator mounts removed; Dockerfile.isaac-ros no longer bakes the emulator (module loads it via the Kit exts mount); optitrack overrides/*.env deleted (module test_stack replaces them); px4-params/external-vision.env stays (generic EV fusion) - tests: colcon unit-test entries removed; optitrack mark kept for module CI - docs/robot/optitrack.md stub points at the module Install: airstack module add https://github.com/castacks/asm_optitrack.git --version <tag> Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
- canonical module launch files (declared, described topic args with
canonical defaults; params in config yamls; scoped set_remap binds args
inside each module's namespace group — no <remap>, graph unchanged):
takeoff_landing_planner, fixed_trajectory_task, droan_gl (+18 params →
config/droan_gl.yaml), droan_local_planner, disparity_expansion,
trajectory_controller (+config yaml), pid_controller (+49 params → yaml)
- the three stack entry files now wire the local layer as flat module
includes ('this module, these connections'); stacks differ only in the
droan variant include + disparity source arg
- DELETED local_droan_cpu.launch.xml and local_macvo_obstacle_avoidance
.launch.xml (superseded by stacks; the macvo one never worked); legacy
local.launch.xml frozen byte-identical for the AUTONOMY_ROLE path until
0.21; lint allowlist shrunk accordingly
- merge gate: graph equality vs the committed stacks/*/wiring.md baselines
(GPU verification follows this commit)
Unit suite: 147 passed, 1 skipped.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Lets a caller export explicit KEY=VALUE pairs (e.g. proprietary-license acceptance like NATNET_ACCEPT_LICENSE=1) into the hook step. Values appear in logs — never secrets. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
A package moved from trunk into a module keeps its old build/<pkg> CMake cache in bind-mounted checkouts; colcon then fails with 'source does not match cache'. Sync now detects and prints the exact (root-owned-safe) cleanup command. Observe-and-report, never deletes. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
robot.launch.xml includes the stack entry when AIRSTACK_STACK_DIR is set; a stack entry wrapping robot.launch.xml recurses infinitely (robot_1/robot_1/... namespace explosion) — found the hard way by the asm_optitrack test_stack's interim wrap form. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
A managed modules/<name> dir without .git (interrupted clone or partial remove) made vcs import fail with 'destination path already exists'; sync now clears such dirs before importing. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Stack 4/9 · base:
rfc/s3-stacks-wrapFirst real extraction: OptiTrack leaves trunk for castacks/asm_optitrack (history preserved via git filter-repo), and the local layer flattens into stack entry files under the wiring-equality gate.
What's inside
natnet_ros2, the PX4 external-vision fusion config, the Isaac Sim NatNet emulator (moves with the module — meaningless without it), integration + e2e tests, and docs all live in the module. The proprietary NatNet SDK stays a host-sidehooks.host_setupdownload — never in images or git.local*.launch.xmlvariant wiring hoisted into stack entries; module launch files become arg-declaring, canonical-defaulted, remap-free.hook_envinput for host hooks in module CI, sync self-heals partial checkouts, and a contract test banning stack entries from including the dispatcher (recursion guard).Validation
full_defaultandfull_droan_cpu.🤖 Generated with Claude Code