Modular AirStack 8/9: full-stack audit — deletions, dep purge, simple-sim, BSD-3-Clause-Clear - #395
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Modular AirStack 8/9: full-stack audit — deletions, dep purge, simple-sim, BSD-3-Clause-Clear#395andrewjong wants to merge 15 commits into
andrewjong wants to merge 15 commits into
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…dened commands From the four-domain rot audit (fix-now tier, CLI/toolchain): - .airstack/README.md rewritten — it documented a containerized-compose CLI that never existed (rebuild-cli, Dockerfile.airstack-cli) - ONE fleet pipeline: bridge-router generation moved into generate_fleet_compose.py (resolve-aware, covers <alias>/<stack> external stacks); airstack up --fleet and fleet generate share it; --dry-run no longer writes files - set -e dead error paths fixed (connect/logs/config); rmi rewritten off positional docker-images parsing; ready --json emits pure JSON on stdout; ready gates built from the resolved robot NAME (non-robot_N fleets no longer 10-min false-timeout) - help arms regenerated from reality (up/test/module/ready/sync/rmi) + a help-truth contract test; lint wired to real checks; format unregistered - .airstack/modules/_lib.sh: the 4 duplicated shell primitives deduped (python/yaml check ×5, container identity ×3, env-value ×4, discovery ×2) - .airstack/runs/ pruned to newest 50 (969-dir backlog cleared) - module sync warns when plan-only regeneration drops lock --build image overrides (containers silently ran the base image without module layers — bit the macvo wiring gate); deprecation shims annotated 'remove in 0.21.0' Unit suite: 273 passed. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…s, orphan purge From the four-domain rot audit (fix-now tier, robot domain): - robot_name_map regex: robots >=9 no longer collapse onto another robot's namespace/domain (robot 12 -> robot_2 before; contract-tested now) - robot_interface_node honors its 'interface' plugin parameter (was hardcoded to MAVROSInterface, silently discarding the param) - wiring baselines: JSON trailers compacted (30,406 -> 1,935 committed lines), full_droan_cpu's hand-copied title fixed + title==stack asserted, golden-node wait added (settle proves the graph stopped growing, not that it is complete — MAC-VO's model load raced the capture); all five baselines re-blessed drift-clean on GPU - full_macvo modules.repos: real HTTPS pin replaces the phantom v0.1.0 SSH placeholder - 13 orphan files deleted (ROS1 leftovers, byte-identical config dups, the caller-less domain-bridge machinery, .vscode dup); exploration package repaired (ament_package order, format-3 manifest, real deps) with its invalid ROS1 launch deleted - stack READMEs/headers: bootstrap-instruction contradictions removed, set_remap wording corrected in 10 module launch headers + the lint docstring, Dockerfile diagnostic block deleted + lying stage comments fixed, robot-test runs the whole workspace, .bashrc identity resolution deduped, rviz MACVO ghosts removed GPU-gated: default + 4 stack wiring drift-clean; heterogeneous fleet flight-ready 111s. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…ile purge From the four-domain rot audit (fix-now tier, GCS + simulation): - action_relay is fleet-aware: roster from FLEET_CONFIG_FILE (mounted config/ + tools/fleet), ROBOT_RELAY_MAP env override, legacy NUM_ROBOTS byte-identical fallback; gcs container gains the fleet env + mounts - multi-drone runs get distinct PX4 GPS homes (PegasusApp anchors world_gps_origin for >1 drone; single-drone byte-unchanged) — verified live: three distinct coordinates matching the fleet spawn offsets; the GCS map no longer stacks the fleet on one point - sshd actually starts (gcs/simple-sim/zed services ran 'ssh service restart'); isaac .bashrc no longer clobbers persisted shell history - deleted: the retired domain-100 sim_to_robot_bridge.yaml, the inert gcs/docker/.env (wrong values), superseded robot-commands.foxe v1, unused fastrtps profile, committed bash histories teaching a deleted package, ms-airsim's bypassed bridge launch, simple-sim's stale duplicate launch - fleet_spawn honors per-vehicle camera flags; ENU-origin constants cross-referenced in all four copies; AIRSIM_* knobs plumbed through compose; devcontainer/gcs unbroken; gcs docs rewritten against reality; user_TEMPLATE asset_root 4.5 -> 5.1; .gitignore footguns scoped Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…eginner funnel From the four-domain rot audit (fix-now tier, docs/tests/skills): - repo-wide broken links 81 -> 4 (all intentional placeholders); nav 404s fixed and made unrepeatable by a nav-existence contract test - CHANGELOG [Unreleased]: five entries advertising extracted/deleted things removed; the campaign's actual user-visible changes written up (stacks-only dispatch, module/fleet/doctor CLI, removals, image slimming) - repo-root README.md created (there was none); docs/README architecture refreshed post-RFC - beginner funnel taught the new canon: key_concepts gains stacks/modules/fleets, the CLI reference regenerated from real registrations (~35 commands), tutorials_reference repaired - tests/README: wiring + tests/meta + --stack/--fleet documented, wrong defaults fixed; tests/meta/README added - skills: use-airstack-cli + run-system-tests refreshed; frontmatter added to the two headless skills; NEW extract-module skill distilled from the three completed extractions; catalog sentence fixed + pages regenerated Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…sensors trio, TAK, standalone examples Owner rulings on the full-stack audit (2026-08-21), all referrers scrubbed: - px4_interface + vendored px4_msgs: deleted pending a clean uXRCE-DDS platform-module design (#387); MAVROS remains the interface. - waypoint_interface, attitude_controller(+_msgs): dead code, no launch path referenced them. - GUI set: rviz_behavior_tree_panel (with xdot_cpp submodule), rqt_behavior_tree_command, rqt_gcs, rqt_airstack_control_panel, orphaned desktop_bringup perspectives — Foxglove is the GCS surface. - Sensors trio camera_param_server / gimbal_stabilizer / sensor_interfaces: hardware-specific packages will return as modules out of trunk (lidar_point_cloud_filter kept). - WinTAK/TAK: ros2tak_tools, TAK docs/assets, gcs Dockerfile TAK deps (pytak/mqtt/gstreamer); can return as a module if needed. - isaac-sim standalone_examples (11MB, upstream copies) and stale robot/docker/wait_for_px4.py + custom_rosdep.yaml. - exploration_planner KEPT by ruling: future Tasks-Panel-selectable geometric frontier planner; intent noted in its package.xml. Unit suite: 273 passed, 7 skipped. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…sim-gui; demote prebuilt to tag-only; drop WinTAK CLI Owner rulings 9-12 from the full-stack audit: - simple-sim (John Keller's kinematic single-robot sim mocking the MAVROS surface): airstack up --sim simple maps to compose profile 'simple' and drops 'desktop' (simple-robot IS the robot container); harness gains SIM_CONFIG[simplesim] with per-sim compose_profiles/ robot_pattern (isaac/airsim byte-identical); new simple_sim mark + 4-test smoke chain (containers, /clock, mock-MAVROS odometry, sentinel nodes — MAVROS itself deliberately absent under SIM_TYPE=simple); collection guard skips mismatched sim/mark pairs before any bring-up. simple-sim docs rewritten truthfully from code (old pages described nonexistent config surfaces). - isaac-sim-gui: documented as the USD/scene-editing path (GUI editor, off airstack_network, not for flying). - DOCKER_IMAGE_BUILD_MODE=prebuilt: documented as tag-discriminator only; real prebuilt stage tracked as follow-up. - WinTAK CLI plumbing removed (.airstack/modules/wintak.sh, --with-wintak, install block) — ROS/doc side went in the audit deletions commit. Unit suite: 274 passed, 6 skipped. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…ps (-152MB) Audit ruling 14 (+7). Removed from Dockerfile.robot: libcgal-dev; pips lxml, pkgconfig, pygments, toml, six, psutil, pymavlink, tqdm, rich, pillow; ros-jazzy-foxglove-bridge (GCS owns the bridge) and its 8767-8787 port range from the robot compose service. KEPT deliberately: libglm-dev/libglfw3-dev/assimp/opengl — droan_gl uses them, and they are now DECLARED in its package.xml plus an explicit named apt block in the runtime stage (previously they rode in implicitly). matplotlib==3.8.4 and scipy kept (in-tree consumers). Validated: image builds; 44/44 packages colcon-build in-container. 6.06GB -> 5.91GB. Module layers must declare their own runtime deps — asm_macvo's missing rich/tqdm surfaced by this purge, fixed module-side. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…ch/tqdm Trunk's dep purge removed rich/tqdm from the base robot image; MAC-VO imports both on its core runtime path (they had been riding on trunk). asm_macvo@06f3a8c8 declares them in its Dockerfile.module; composed layer rebuilt and import-verified (rich 15.0.0, tqdm 4.70.0, torch ok, numpy re-pinned 1.26.4). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…rs + descriptions everywhere Owner ruling 13 from the full-stack audit: - Root LICENSE (and 4 stray per-package Apache LICENSE files) -> BSD 3-Clause Clear, Copyright (c) 2023-2026 Carnegie Mellon University, AirLab. - 38 package.xmls: license tag set, placeholder maintainers (todo/root/ uav/airlab/@todo.todo) -> Andrew Jong <ajong@andrew.cmu.edu>, all TODO descriptions replaced with real ones written from each package's source. airstack_msgs promoted to 1.0.0. - Vendored packages KEEP their upstream licenses: ETH mav_* (ASL 2.0; two ship upstream 'TBD' — left matching upstream), rqt-derived packages (BSD), 3d_waypoint_rviz2_plugin (Apache-2.0); submodules untouched (vdb_mapping*, rviz_polygon_selection_tool). - 29 campaign-era '# MIT License' python headers -> SPDX BSD-3-Clause-Clear; 23 skill frontmatters; docs license mentions; module fixtures. - New meta contract test_package_metadata_contract.py (unit): every non-submodule package.xml must have a real description, real maintainer, non-empty license (value not asserted — vendored differ). - asm_* module repos + airstack-modules-index relicensed in lockstep; asm_macvo re-pinned to f0d19213 (metadata-only, layer cache-hit). Unit suite: 400 passed, 7 skipped. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…ce the Jazzy migration The mounted bashrc still sourced /opt/ros/humble/setup.bash (gone since the Jazzy migration), so the at-startup colcon build of the sim workspace failed on ament_cmake and no sim node ever launched. Source jazzy in the bashrc (guarding the not-yet-built install/setup.bash) and explicitly in the compose startup command so the launch chain does not depend on the interactive rc file. Caught by the new simple_sim smoke mark on adoption: 4/4 passed, sim publishes /clock ~25s after up. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…_macvo past its stale-import fix The harness hardcoded AIRSTACK_STACK_ENTRY=stack, so a split stack (lite_offload_global has only onboard/offboard entries) dispatched to a nonexistent entry and stranded the launch after the dispatcher preamble — the wiring sentinel gate caught it (mavros/trajectory_control never appeared). --stack now parses the same <name>[:<entry>] syntax as airstack up; airstack_env carries stack (entry stripped, so goldens and doctor lookups keep keying on the folder) plus a new stack_entry. asm_macvo re-pinned to 269ffc0b: macvo_node imported the trunk-deleted sensor_interfaces srv it never used (camera params arrive via a plain CameraInfo subscription) and crashed at startup — the full_macvo wiring gate caught the missing node. Wiring gates all green: full_default, full_droan_cpu, full_macvo, lite_default (2 passed each), lite_offload_global:onboard (2 passed). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
…-set removal Owner-ruled follow-up to the audit deletions: with the rqt/rviz behavior-tree GUIs and their perspectives gone, this rqt-derived viewer (bundled Python xdot renderer + py_console) had no remaining referrer repo-wide. behavior_tree_msgs' GraphVizXdot messages stay — they are framework messages, published regardless of any viewer. rqt_py_template (John Keller's) stays. Clean rebuilds after removal: robot 44/44, gcs 16/16; unit suite 397 passed, 7 skipped (metadata contract re-counts automatically). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Promote the 0.19 series (intent-flag launch workflow, airstack ready, resolved-config preflight, OSMO ephemeral CI runners, OptiTrack external-vision configurations, feature-notebook workflow) out of pre-release: VERSION 0.19.0-alpha.18 -> 0.19.0; CHANGELOG [Unreleased] promoted to [0.19.0] - 2026-08-22. Co-authored-by: Claude Fable 5 <noreply@anthropic.com>
…nd 0.20.0-alpha.8 Conflict resolutions: CHANGELOG.md keeps this branch's truthful rewrite (the 0.19.0 release history is preserved in docs/release_notes/index.md, which replaces CHANGELOG one PR up the stack); .env keeps this branch's VERSION bump. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> # Conflicts: # .env # CHANGELOG.md
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Stack 8/9 · base:
rfc/s7-catalog-role-removalFull-stack audit, executed against 14 owner rulings: delete what's dead, declare what's implicit, relicense, and make the sims honest.
What's inside
px4_interface+vendoredpx4_msgs(uXRCE-DDS redesign tracked in Design: native PX4 uXRCE-DDS interface as a platform-module capability #387),waypoint_interface,attitude_controller(+msgs), the RQT/RViz GUI set (incl.rqt_gcs,rqt_behavior_tree,xdot_cppsubmodule), sensors trio (camera_param_server/gimbal_stabilizer/sensor_interfaces), WinTAK/TAK integration, Isaacstandalone_examples.airstack up --sim simple+ asimple_simsmoke mark — which immediately caught that the sim had been dead since the Jazzy migration (bashrc sourced Humble); fixed.rich/tqdm— fixed module-side and re-pinned (the module-boundary model working as intended).airstack_msgs1.0.0.--stackaccepts<name>[:<entry>]so split stacks are testable.Validation
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