AirStack 0.19.0

Added

• Intent flags on airstack up — --sim isaac|airsim, --robots N, --headless, --play/--no-play, --no-autolaunch, --wait, --dry-run — deriving the coordinated env-var sets (compose profiles, URDF, single/multi Isaac launch script) as exported leaf values, with a resolved-config banner and a per-run .airstack/runs/<ts>/effective_config.env dump; contract-tested in tests/meta/test_launch_intent_contract.py (unit mark)

• airstack ready (and airstack up --wait): staged flight-readiness gates mirroring the system-test budgets — containers → sim /clock → per-robot sentinel nodes → PX4 MAVROS-connected + local_position/odom streaming (the armable signal) — with per-gate diagnostics and --json for scripts

• Preflight validation in airstack up on resolved configuration (env > --env-file > .env): one-simulator guard no longer bypassed by --env-file; NUM_ROBOTS>1 with the single-drone Isaac script is a named hard error; missing images are listed with an image-pull hint before compose starts an implicit build; missing omni_pass.env / empty Pegasus submodule / Docker < 29 surfaced on the host (AIRSTACK_SKIP_PREFLIGHT=1 downgrades errors to warnings)

• tmux pane output is mirrored to container stdout via shared .tmux.conf hooks, so docker logs / airstack logs now show colcon builds, ros2 launch output, sim loading, and crashes

• Automatic unit-tests.yml PR gate on ubuntu-latest, plus run_meta.json outcome metadata so reports distinguish completed simulation campaigns from collection errors, empty selections, timeouts, and cancellations

• overrides/isaac-optitrack-simulation.env — brings up Isaac Sim with the NatNet emulator and PX4 flying on mocap EKF2 external vision (GPS/baro/range aiding off), i.e. the configuration tests/system/test_optitrack_e2e.py runs, reproducible by hand

• overrides/l4t-optitrack-realrobot.env — deployment override for a real Jetson robot flying on OptiTrack mocap (PX4 EKF2 external vision instead of GPS): the NatNet server/body settings, plus the multi-NIC and FCU-parameter notes that path needs

• Feature notebook workflow (use-feature-notebook skill): every agent-implemented feature gets a local, gitignored notebook/NNN-feature-slug/ entry with a status-tracked design_spec.md (written before coding) and results/ artifacts + self-contained results_summary.md that populate the feature's PR description

• Battery and telemetry display in GCS RQT control panel (voltage and percentage per robot when MAVROS battery topic is bridged)

• TARGET_ARCH build arg (default x86_64) in Dockerfile.robot to arch-parametrize LD_LIBRARY_PATH; docker-compose.yaml passes TARGET_ARCH: aarch64 to the voxl and l4t real-robot image builds

• ros-${ROS_DISTRO}-mavros-extras in the robot image (provides the vision_pose plugin used for external-pose deployments)

• overrides/l4t-px4-realrobot.env — site-agnostic deployment override for a single real PX4 robot on a Jetson (aarch64/l4t)

• integration test tier (tests/integration/, integration mark) with a shared robot_autonomy_stack fixture (robot container, no sim/GPU)

• waypoint_flight system test (tests/system/test_waypoint_flight.py): takeoff → ordered waypoint route via NavigateTask (dispatched as a dense plan) → land, judged on the odometry track by the standalone stdlib-only tests/waypoint_checker.py (in-order corridor arrival within --waypoint-tolerance, final goal within --goal-tolerance, per-waypoint --waypoint-timeout); validated end-to-end in Isaac Sim; serves as the standard acceptance check after integrating or swapping a planner module

• Real-robot PX4 external-vision fusion in natnet_ros2 (OptiTrack mocap → EKF2): mavros_gp_origin (geoid-corrected synthetic GPS origin so local_position.z == OptiTrack z, fixing the ~36 m boot offset), vision_pose_converter, and a PX4 param checker (px4_param_setter, auto_set off by default; on_mismatch warn/halt) — setup guide at docs/robot/px4_external_vision.md

• NatNet server emulator (optitrack.natnet.emulator, protocol core) — pure-Python OptiTrack Motive server emulation so natnet_ros2 can be driven without hardware; host integration tests (tests/integration/natnet/) wire it to the robot client

• Isaac wrapper for the NatNet emulator (USD scene → server) + natnet Pegasus launch scripts, and a dedicated OptiTrack sim e2e test (optitrack mark, tests/system/test_optitrack_e2e.py) that flies a Circle trajectory on mocap EKF2 fusion — GPS, baro and range aiding are disabled for the run, so the OptiTrack stream is the vehicle's only position source and cross-track error scores the whole chain

Changed

• Isaac launch scripts deduplicated onto a shared pegasus_app.PegasusApp base (simulation/isaac-sim/launch_scripts/pegasus_app.py): the six scripts become scenario declarations (~40–170 lines each, net −438 lines) with hooks for NatNet/scene-import extras; behavior verified by full system-test parity (liveliness, sensors, takeoff/hover/land on Isaac). ISAAC_SIM_HEADLESS and ISAAC_SIM_LIVESTREAM now work uniformly in every launch script (previously each was honored by only half of them)

• Launch-workflow docs corrected against actual behavior: ISAAC_SIM_SCENE (nonexistent) replaced by ISAAC_SIM_SCRIPT_NAME/ISAAC_SIM_GUI, getting-started reflects the paused-by-default sim and Foxglove UI, isaac docker.md defaults table matches .env, ms-airsim MAVROS ports/FOV/vehicle naming fixed, AGENTS.md uses the real down/image-build command names

• Unit-test documentation now matches the co-located layout: the add-unit-tests and run-system-tests skills and the testing docs record which runner each language uses (C++ gtests via colcon test under the build_packages mark; Python via the root harness, plus colcon test for ament_python packages), and stop instructing authors to write @pytest.mark.unit by hand — conftest.py applies it by file location

• Ephemeral CI GPU runners spawn via NVIDIA OSMO (not OpenStack); system-tests.yml / docker-build.yml still use airstack-ephemeral

• Default system-test --sim is isaacsim; pass --sim msairsim to opt in to Microsoft AirSim

• -m build_packages CI runs pull cache_* images instead of baking sim images

• docker-build.yml retags unchanged images on VERSION bumps (content fingerprint) instead of always rebuilding; floating cache_* tags still seed PR layer cache

• Automatic OSMO validation runs the pull-only build_packages gate whenever a PR is opened, updated, or reopened; GPU-intensive simulation campaigns (including OptiTrack) are selected through /pytest or workflow_dispatch

• robot-l4t compose service knobs are now env-overridable (AUTONOMY_ROLE, FCU_URL, and the rosbag path via BAG_STORAGE_PATH); FCU_URL unquoted so the literal serial path reaches MAVROS

• zed-l4t image: ZED SDK 4.2 → 5.2 with the coupled ROS deps (zed_msgs 5.2.1, point_cloud_transport(_plugins) 4.x, add backward_ros)

• Unit tests are defined by tests/colcon_unit_test_packages.yaml: conftest.py collects each listed package's co-located test/ dir under --import-mode=importlib and marks it unit (ament lint files are skipped and run under colcon test)

Removed

• Pre-co-location unit-test scaffolding: the six per-layer stub READMEs under tests/robot/ (which instructed authors to add tests in directories tests no longer live in) and tests/sim/motive_emulator/README.md (superseded by simulation/isaac-sim/extensions/optitrack.natnet.emulator/ and tests/integration/natnet/)

Fixed

• barebones_pegasus_launch.py (the documented template script) crashed with NameError: os on construction
• isaac-sim-livestream compose service silently produced a black stream when ISAAC_SIM_SCRIPT_NAME was a multi-drone script (livestream setup existed only in the single-drone scripts)
• NATNET_BODY_NAME/NATNET_TARGET_NAME env overrides documented by the single-drone NatNet script now actually work
• airstack up guards (one-simulator, URDF pairing) validated .env only and were bypassed by --env-file overrides/...; they now check the resolved configuration
• pytest tests/ now collects the co-located unit tests before mark filtering. The old guard skipped injection whenever any path was on the command line, and tests/ is a path — CI collected 97 of 252 items and the Python unit tests ran nowhere. Narrowing (pytest tests/system/test_x.py) still skips injection; repository-root and empty-path collection are rejected
• Empty CI pytest arguments no longer become pytest tests/ "" and recurse through the repository; collection/import, setup/teardown, partial, and interrupted artifacts are reported as non-comparable instead of false 0% simulation-policy results, and metric regression runs only for an identical simulation campaign fingerprint
• Isaac Sim image: PX4 ubuntu.sh no longer fails dpkg configure on the NVIDIA base (ca-certificates / software-properties-common); use --no-nuttx --no-sim-tools like ms-airsim
• Robot image: pin pytest<8.1 and disable launch_testing for colcon unit tests so ROS Jazzy's outdated pytest hook does not abort colcon test
• Robot name resolution now honors a pre-set ROBOT_NAME (e.g. injected via docker compose) instead of always overriding it from the container/hostname mapping (robot/docker/.bashrc)
• Robot name-map catch-all fallback now maps to unknown_robot (valid ROS namespace token) instead of unknown-robot (default_robot_name_map.yaml)
• l4t robot image: replace dustynv's /ros_entrypoint.sh with a passthrough so its prebuilt source-ROS libs (older fastcdr) no longer shadow the apt Jazzy runtime and crash apt-built nodes like MAVROS
• RECORD_BAGS=true never brought the bag recorder up on a robot: logging.launch.xml hardcoded record_bag=false and onboard_autonomy_all.launch.xml includes it with no arguments, so the variable was forwarded into the container and read by nobody (only gcs.launch.xml consumed it). With no bag_record node running, the GCS control panel's set_recording_status toggle had nothing to reach despite being bridged in domain_bridge.yaml / dds_router.yaml. It now reads RECORD_BAGS and selects its topic set via LOG_CONFIG
• Falling back to unknown_robot / domain 0 now logs a warning naming both fixes (rename the device robot-<n> on the host, or supply a ROBOT_NAME_MAP_CONFIG_FILE matching your hostnames). The fallback itself is unchanged — it deliberately keeps an unidentified robot out of every real robot's namespace — but it used to resolve silently, so the symptoms surfaced far from the cause
• Dropped ROBOT_NAME / ROS_DOMAIN_ID from overrides/l4t-px4-realrobot.env: no compose service declares either, so an env file could never set them and the lines were inert
• bag_record/bag_recording_status was bridged GCS -> robot in domain_bridge.yaml, the same direction as the command it answers, so recorder status never reached the GCS and every recording indicator stayed blank
• bag_record_node passed --exclude to ros2 bag record, which Jazzy renamed to --exclude-regex. It is now an ambiguous prefix of four options, so argparse rejected the command and any section using exclude: (including log.yaml's airstack section, i.e. everything but the cameras) recorded nothing — surfacing only as a usage dump in the node's stdout. Multiple exclude: entries are now alternated into one regex instead of repeating a single-valued flag, which had silently kept only the last
• natnet_config.yaml's $(env NATNET_SERVER_IP ...) could never resolve: no compose service declared the variable, so the NatNet client always fell back to its hardcoded default and could reach neither the in-sim emulator nor a real Motive host. It is now forwarded in robot-base-docker-compose.yaml, defaulting to the in-sim emulator
• The NatNet rigid body tracked by robot_1 defaulted to a site-specific body (id 1146) that no emulator streams; since the client filters frames by numeric id, that produced a connected client that never published. It now defaults to the emulator's body (Drone, id 1). Per-robot bodies are configured in each robot's profile in natnet_config.yaml, selected by ROBOT_NAME
• OptiTrack external-vision tuning corrected from real-flight bags: EKF2_EV_DELAY 8.0 → 7.0 and EKF2_EVP_NOISE 0.01 → 0.05. The old 0.01 gave a 5 cm innovation gate (EKF2_EVP_GATE × 5σ) that rejected valid mocap updates and blocked arming; px4_params.yaml now records the supporting measurements and the drift-and-snap misdiagnosis so neither is repeated
• The synthetic GPS origin now places the mocap floor at the shared world datum (desired_floor_amsl: 36.0, i.e. 90 m ellipsoidal in AMSL) rather than at sea level, so a mocap robot's reported global altitude agrees with sim and the GCS. local_position.z still equals the OptiTrack height either way
• The robot image could ship without the GeographicLib egm96-5 geoid: mavros' install_geographiclib_datasets.sh swallows a failed download and still exits 0, so the RUN layer succeeded either way, and geographiclib-tools was only ever a transitive dependency. MAVROS builds that geoid in its UAS core before any plugin loads and throws if it is missing, so mavros_node died at startup on affected images. Dockerfile.robot now pins the tool and asserts the file exists, failing the build instead
• An unrecognised connection_type in natnet_config.yaml silently fell back to unicast, so a typo produced a client that connected on the wrong transport and never received frames. validate_connection_type now throws and natnet_ros2_node fails at startup naming the offending value
• natnet_ros2_node on robot_1 now compares the NatNet server's MODELDEF drone-body count (Drone / Drone1…DroneN, excluding Target and skeleton bones) against NUM_ROBOTS after the handshake and logs an error on mismatch, so a sim launch script and natnet_config.yaml that disagree about how many drones exist is caught at startup rather than as a robot that silently never receives frames. NUM_ROBOTS is forwarded into the robot container for it
• Isaac Sim PX4 never fused the mocap stream: EKF2_EV_CTRL defaults to 0 and the isaac compose set no PX4 parameters, so the emulator could stream perfectly while PX4 flew on sim GPS. The compose now passes the EKF2 external-vision set as PX4_PARAM_* (applied by PX4 SITL's rcS at boot), each defaulting to PX4's own default so non-mocap sims are unaffected; the mocap path opts in
• The NatNet emulator hardcoded the drone's streaming id to 1 while the client reads NATNET_BODY_ID, so a real Motive id desynced the two into a connected client that never published (example_one_px4_pegasus_natnet_launch_script.py)
• test_optitrack_e2e.py::test_px4_fuses_vision asserted only that local_position/pose publishes, which it does off GPS — the check passed with external vision disabled. It is now the pre-flight gate (an estimate exists) and the Circle flight is the actual proof of fusion
• The NatNet emulator is now installed as a Kit extension: Dockerfile.isaac-ros pip-installs it editable into the Isaac python and bind-mounts the repo copy over it (the same pattern as pegasus.simulator), and the natnet launch scripts enable_extension it before importing. Being on a Kit --ext-folder search path only makes Kit aware of an extension — it does not put the package on sys.path — so the scripts previously died with ModuleNotFoundError: No module named 'optitrack'