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Krrish/coord pr#350

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krrishj18 wants to merge 78 commits intomainfrom
krrish/coord-pr
Open

Krrish/coord pr#350
krrishj18 wants to merge 78 commits intomainfrom
krrish/coord-pr

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@krrishj18 krrishj18 commented Apr 30, 2026 •
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What does this pull request do?

  • Foxglove panels (gcs/foxglove_extensions/): robot-commands (per-robot task tabs with multi-feedback feed), waypoint-editor, polygon-editor. Auto-installed into Foxglove on container start via install.sh.
  • Action relay (gcs/ros_ws/src/action_relay/): bridges Foxglove JSON-on-String goals to per-robot action servers across DDS domains; cancel-aware with 10 s timeout fallback.
  • GCS visualizer (gcs/ros_ws/src/gcs_visualizer/): multi-robot markers in one 3D namespace, per-robot /gcs/<robot>/location republisher with map frame, save markers for waypoints/polygons, sim_ground TRIANGLE_LIST from the sim overhead camera.
  • Coordination layer (common/ros_packages/coordination/): gossip node + PeerProfile + configurable typed payloads (gossip_payloads.yaml).
  • Top-down sim camera (simulation/isaac-sim/utils/scene_prep.py): add_orthographic_camera + add_overhead_camera_publisher (publishes /sim/overhead/{image,spec});
  • Polygon-bounded random walk (robot/ros_ws/src/global/planners/random_walk/): point-in-polygon search bounds, auto-navigate to nearest inside point pre-flight.
  • Persisted GCS waypoint/polygon editor saves: gcs/saves/ mounted into the GCS container.

Which issue number does this address?

Video can be found here

foxglove_full_screen

Videos + photos in the updated docs

How did you implement it?

  • Two-context relay (relay_node.py): a single Python process spins up a ctx0 (GCS, domain 0) executor and one ctxN (per-robot, domain N) executor; reads JSON goal/cancel from /<robot>/tasks/<task> String topics, builds the typed action goal,
    forwards to the robot-domain action client, and re-publishes feedback/result as JSON. NUM_ROBOTS env spawns the right set of relays.
  • Foxglove panels are TS extensions packaged via install.sh, which copies each unpacked extension into
    ~/.foxglove-studio/extensions/<publisher>.<name>-<version>/ at container start (mounted read-only from
    gcs/foxglove_extensions/).
  • Multi-robot visualizer auto-discovers robots by scanning /<robot>/odometry_conversion/odometry topics; per-robot color from a fixed palette; world→map static TF published once on the GCS side.
  • Top-down map: USD orthographic camera at OVERHEAD_ALTITUDE_M over (0,0); OmniGraph ROS2CameraHelper publishes a JPEG to /sim/overhead/image and a Float32 coverage spec to /sim/overhead/spec. GCS side downsamples to a Marker.TRIANGLE_LIST grid (overhead_grid_per_m, capped at overhead_max_grid_resolution) so it stays cheap in Foxglove's 3D panel.
  • Random walk polygon bounds: ray-cast 2D PIP in random_walk_logic.cpp::point_in_search_bounds; nearest-inside-point pre-flight dispatched via the navigate action client.

Testing

How do you run the tests?

  • Foxglove panels — created waypoints and polygons of varying shapes, saved them, assigned to multiple drones, then cancelled / reassigned / restarted tasks repeatedly to confirm relay state stays in sync.
  • Top-down sim map — verified the textured ground renders correctly across 3 different Isaac Sim scenes.
  • Gossip payloads — confirmed GPS and goal-position payloads propagate between peers; verified both via Foxglove rendering and the peer_profile terminal viewer.
  • Custom payload extensibility — added rayfronts-style entries to gossip_payloads.yaml and a VDB map payload to confirm the gossip layer handles arbitrary user-declared types end-to-end.

What do the tests do?

Cover the GCS-side critical paths added by this PR: action relay (goal / feedback / result / cancel), polygon + waypoint editor + saves persistence, multi-robot visualizer, top-down sim map publisher, and the gossip payload pipeline.

What are the expected results of the tests?

  • Task tabs flip yellow while executing → green on success
  • Saved polygons / waypoints survive container restarts via the gcs/saves mount.
  • sim_ground renders without dropping frames in Foxglove 3D across all tested scenes.
  • Each robot's PeerProfile reaches every other robot with all declared payloads attached, regardless of payload type.

Reproducing tests

.env:
NUM_ROBOTS=4
ISAAC_SIM_SCRIPT_NAME="example_multi_drone_scene_import.py"

Bring up the stack:

 airstack up

The Foxglove window should auto-connect to ws://localhost:8765 and open the AirStack default layout from the CMU org.

Fallback: open the dynamically-generated layout manually

Use this if Foxglove doesn't auto-connect or you want to use the locally-rendered, NUM_ROBOTS-matched layout instead of the cloud one.

  1. In the Foxglove dashboard, click Layouts → Import from file....
  2. Navigate to the rendered layout file:
    - Inside the GCS container: /root/AirStack/gcs/foxglove_extensions/airstack_default.json
    - On the host: gcs/foxglove_extensions/airstack_default.json
  3. Back on the dashboard, click Open connection and enter:
    - ws://localhost:8765 if Foxglove is running inside the GCS container
    - ws://localhost:8766 if Foxglove is running on the host
  4. In the top-right corner, click the current layout name and select the imported layout from the dropdown.

Did you update the docs (and under what path)?

New pages:

  • docs/gcs/foxglove.md — GCS Foxglove visualization (multi-robot markers, payload republishing, sim ground)
  • docs/gcs/waypoints_and_geofences.md — click-to-place Waypoint and Polygon editor workflow + saves persistence
  • docs/simulation/isaac_sim/spawning_drones.md — multi-drone scene authoring with gps_utils.set_gps_origins
  • docs/simulation/isaac_sim/overhead_camera.md — 2D world map in Foxglove (real-world satellite tiles + simulated overhead
    camera)

Updated:

  • docs/robot/autonomy/coordination/index.md — gossip protocol overview (already wired in nav)
  • docs/robot/autonomy/coordination/payloads.md — how to add a custom payload + Foxglove handler
  • mkdocs.yml — nav entries for the four new pages, under Ground Control Station → Foxglove and Simulation → Isaac Sim

Skills (.agents/skills/):

  • attach-gossip-payload/ — agent workflow for adding a payload end-to-end
  • visualize-in-foxglove/ — agent workflow for adding a topic to the GCS visualizer

krrishj18 and others added 30 commits April 8, 2026 12:06
@krrishj18
Fixed multi-drone global plan
a06bb25
@krrishj18
added sep files for fire and retro
3b993b7
@krrishj18
added robot2 relative pos; diff rviz files; bridge for rayfronts topics
b68bd9b
@krrishj18
added sharing of semantic rays
5d32861
@krrishj18
changed rviz for both drones
e68e269
@krrishj18
added target sharing
f5a5c9e
@krrishj18
changed drone start pos
efb2e55
@krrishj18
gossip layer w/o relay
435837c
@krrishj18
added global coords under /{ROBOT_NAME}/interface/mavros/global_posit…
45dd5e8 
…ion/raw/fix(not my topic, it was already publishing to that)
@krrishj18
gossip, threedrone,peerprofile
8729411
@krrishj18
multi drone vis in foxglove, odom doesn't work in foxglove yet
9d66ab8
@krrishj18
multi drone vis in foxglove works with odom
cabf9ae
@krrishj18
global plan added
ffd1ff6
@krrishj18
added image, vdb markers(not transformed yet)
9fdf045
@krrishj18
fixed state estimation flickering and vdb transform
2232212
@krrishj18
added custom foxglove buttons for commands
66f044a
@krrishj18
added modular payloads to peerprofile, foxglove reads the payloads an…
7e344f1 
…d vizualizes it,currently works for rayfronts
@krrishj18
fixing the rotation of payload
ae062e5
@krrishj18
syncing devices
ce32a22
@krrishj18
fixed gossip + translate
61befb9
@krrishj18
added skill for foxglove/coordination
ed4abfe
@krrishj18
removed VDB ENV
ddee8f4
@krrishj18
rebase with main
088259f
@krrishj18
updated docs
6c9fefa
@krrishj18
fixed launch files so they have play start on sim. scene_prep utils: …
27355fa 
…added non-world prims to save in flattened manner
@krrishj18
created raven_nav package
946441e
@krrishj18
Merge remote-tracking branch 'origin/main' into multi-raven
402fe3b
@krrishj18
moved coordination to common
3329d88
@krrishj18
fixed gcs<->robot dds
79a584d
@krrishj18
added hitl functionality
b1f2b06
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github-actions Bot commented May 2, 2026

Test Metrics — c46c4a4cc1dd7dc9a6aaf922b38d89884ddd0053

Pass rates

Test Pass Fail Skip Rate (baseline → current)
isaac-sim.extensions.PegasusSimulator.extensions.pegasus.simulator.pegasus.simulator.tests.test_hello_world 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.replicator.pose_generation.pose_tests.test_utils 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.benchmark.services.test_no_rendering 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_articulation_determinism 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_articulation_root 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_delete_in_contact 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_rendering 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_save_stage 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_time_stepping 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.cortex.framework.cortex_bringup_test 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.ros1.bridge.test_carter_lidar 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.ros2.bridge.test_carter_camera_multi_robot_nav 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.ros2.bridge.test_people_sim 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.sensors.physics.contact_sensor_test 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.sensors.rtx.rtx_lidar_test 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.sensors.rtx.rtx_radar_test 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_createstage_config 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_extension_count 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_external 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_extra_args 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_fabric_frame_delay 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_fetch_results 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_frame_delay 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_ogn 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_ovd 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_syntheticdata 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_unsaved_on_exit 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.omni.isaac.dynamic_control.test_zero_step 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.omni.replicator.agent.test_scripting 0 → 0 0 → 1 0 → 0 — → 0%
isaac-sim.standalone_examples.testing.omni.syntheticdata.test_basic 0 → 0 0 → 1 0 → 0 — → 0%
ros_packages.gui.rviz.rviz_behavior_tree_panel.scripts.test_behavior_tree_publisher 0 → 0 0 → 1 0 → 0 — → 0%
ros_packages.logging.bag_recorder_pid.test.test_copyright 0 → 0 0 → 1 0 → 0 — → 0%
ros_packages.logging.bag_recorder_pid.test.test_flake8 0 → 0 0 → 1 0 → 0 — → 0%
ros_packages.logging.bag_recorder_pid.test.test_pep257 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.local.planners.takeoff_landing_planner.test.scripts.test_takeoff_landing_planner 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Baseline.DPVO.Pangolin.components.pango_python.pybind11.tests 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_circular_buffer 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_loadable 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_macvo 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_modules 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_sequence 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_tartanvo 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_frontend 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_matching 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_performance_macvo 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_stereo_depth 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.ros2tak_tools.test.test_copyright 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.ros2tak_tools.test.test_flake8 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.ros2tak_tools.test.test_pep257 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.sensors.camera_param_server.test.test_copyright 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.sensors.camera_param_server.test.test_flake8 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.sensors.camera_param_server.test.test_pep257 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.sensors.gimbal_stabilizer.test.test_copyright 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.sensors.gimbal_stabilizer.test.test_flake8 0 → 0 0 → 1 0 → 0 — → 0%
ros_ws.src.sensors.gimbal_stabilizer.test.test_pep257 0 → 0 0 → 1 0 → 0 — → 0%

Metrics

Test Metric Baseline Current Change
ros_packages.gui.rviz.rviz_behavior_tree_panel.scripts.test_behavior_tree_publisher duration_s — 0s new
ros_packages.logging.bag_recorder_pid.test.test_copyright duration_s — 0s new
ros_packages.logging.bag_recorder_pid.test.test_flake8 duration_s — 0s new
ros_packages.logging.bag_recorder_pid.test.test_pep257 duration_s — 0s new
ros_ws.src.ros2tak_tools.test.test_copyright duration_s — 0s new
ros_ws.src.ros2tak_tools.test.test_flake8 duration_s — 0s new
ros_ws.src.ros2tak_tools.test.test_pep257 duration_s — 0s new
ros_ws.src.local.planners.takeoff_landing_planner.test.scripts.test_takeoff_landing_planner duration_s — 0s new
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Baseline.DPVO.Pangolin.components.pango_python.pybind11.tests duration_s — 0s new
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_circular_buffer duration_s — 0s new
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_loadable duration_s — 0s new
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_macvo duration_s — 0s new
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_modules duration_s — 0s new
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_sequence duration_s — 0s new
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_config_tartanvo duration_s — 0s new
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_frontend duration_s — 0s new
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_matching duration_s — 0s new
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_performance_macvo duration_s — 0s new
ros_ws.src.perception.macvo_ros2.macvo_ros2.macvo.Scripts.UnitTest.test_stereo_depth duration_s — 0s new
ros_ws.src.sensors.camera_param_server.test.test_copyright duration_s — 0s new
ros_ws.src.sensors.camera_param_server.test.test_flake8 duration_s — 0s new
ros_ws.src.sensors.camera_param_server.test.test_pep257 duration_s — 0s new
ros_ws.src.sensors.gimbal_stabilizer.test.test_copyright duration_s — 0s new
ros_ws.src.sensors.gimbal_stabilizer.test.test_flake8 duration_s — 0s new
ros_ws.src.sensors.gimbal_stabilizer.test.test_pep257 duration_s — 0s new
isaac-sim.extensions.PegasusSimulator.extensions.pegasus.simulator.pegasus.simulator.tests.test_hello_world duration_s — 0s new
isaac-sim.standalone_examples.replicator.pose_generation.pose_tests.test_utils duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.benchmark.services.test_no_rendering duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_articulation_determinism duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_articulation_root duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_delete_in_contact duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_rendering duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_save_stage duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.core.api.test_time_stepping duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.cortex.framework.cortex_bringup_test duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.ros1.bridge.test_carter_lidar duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.ros2.bridge.test_carter_camera_multi_robot_nav duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.ros2.bridge.test_people_sim duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.sensors.physics.contact_sensor_test duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.sensors.rtx.rtx_lidar_test duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.sensors.rtx.rtx_radar_test duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_createstage_config duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_extension_count duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_external duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_extra_args duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_fabric_frame_delay duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_fetch_results duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_frame_delay duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_ogn duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_ovd duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_syntheticdata duration_s — 0s new
isaac-sim.standalone_examples.testing.isaacsim.simulation_app.test_unsaved_on_exit duration_s — 0s new
isaac-sim.standalone_examples.testing.omni.isaac.dynamic_control.test_zero_step duration_s — 0s new
isaac-sim.standalone_examples.testing.omni.replicator.agent.test_scripting duration_s — 0s new
isaac-sim.standalone_examples.testing.omni.syntheticdata.test_basic duration_s — 0s new

test_takeoff_hover_land

Pass rates

Test Pass Fail Skip Rate (baseline → current)
test_hover[msairsim-rob#1-v0.5] 1 → 0 0 → 0 0 → 0 100% → —
test_hover[msairsim-rob#1-v1.0] 1 → 0 0 → 0 0 → 0 100% → —
test_hover[msairsim-rob#1-v2.0] 1 → 0 0 → 0 0 → 0 100% → —
test_landing[msairsim-rob#1-v0.5] 1 → 0 0 → 0 0 → 0 100% → —
test_landing[msairsim-rob#1-v1.0] 1 → 0 0 → 0 0 → 0 100% → —
test_landing[msairsim-rob#1-v2.0] 1 → 0 0 → 0 0 → 0 100% → —
test_px4_ready[msairsim-rob#1-v0.5] 1 → 0 0 → 0 0 → 0 100% → —
test_px4_ready[msairsim-rob#1-v1.0] 1 → 0 0 → 0 0 → 0 100% → —
test_px4_ready[msairsim-rob#1-v2.0] 1 → 0 0 → 0 0 → 0 100% → —
test_takeoff[msairsim-rob#1-v0.5] 1 → 0 0 → 0 0 → 0 100% → —
test_takeoff[msairsim-rob#1-v1.0] 1 → 0 0 → 0 0 → 0 100% → —
test_takeoff[msairsim-rob#1-v2.0] 1 → 0 0 → 0 0 → 0 100% → —

Metrics

Test Metric Baseline Current Change
test_px4_ready[msairsim-rob#1-v0.5] duration_s 215.2s — removed
test_px4_ready[msairsim-rob#1-v0.5] airstack_up_duration_s 3.22s — removed
test_px4_ready[msairsim-rob#1-v0.5] airstack_down_duration_s 11.02s — removed
test_px4_ready[msairsim-rob#1-v0.5] robot.ready_duration_sys_s 211.3s — removed
test_takeoff[msairsim-rob#1-v0.5] duration_s 24.1s — removed
test_takeoff[msairsim-rob#1-v0.5] robot.altitude_error_m -0.089m — removed
test_takeoff[msairsim-rob#1-v0.5] robot.overshoot_m 0m — removed
test_takeoff[msairsim-rob#1-v0.5] robot.takeoff_duration_sim_s 18.64s — removed
test_takeoff[msairsim-rob#1-v0.5] robot.velocity_rmse_m_sim_s 0.217m/s — removed
test_takeoff[msairsim-rob#1-v0.5] robot.odometry_error_mean_m 0.579m — removed
test_takeoff[msairsim-rob#1-v0.5] robot.odometry_error_max_m 0.669m — removed
test_takeoff[msairsim-rob#1-v0.5] robot.odometry_altitude_bias_m 0.575m — removed
test_hover[msairsim-rob#1-v0.5] duration_s 10.06s — removed
test_hover[msairsim-rob#1-v0.5] robot.hover_altitude_mean_error_m 0.046m — removed
test_hover[msairsim-rob#1-v0.5] robot.hover_position_stddev_m 0.023m — removed
test_hover[msairsim-rob#1-v0.5] robot.odometry_error_mean_m 0.674m — removed
test_hover[msairsim-rob#1-v0.5] robot.odometry_error_max_m 0.696m — removed
test_hover[msairsim-rob#1-v0.5] robot.odometry_altitude_bias_m 0.674m — removed
test_landing[msairsim-rob#1-v0.5] duration_s 26.44s — removed
test_landing[msairsim-rob#1-v0.5] robot.final_altitude_m -0.097m — removed
test_landing[msairsim-rob#1-v0.5] robot.land_duration_sim_s 14.8s — removed
test_landing[msairsim-rob#1-v0.5] robot.velocity_rmse_m_sim_s 0.226m/s — removed
test_landing[msairsim-rob#1-v0.5] robot.odometry_error_mean_m 0.707m — removed
test_landing[msairsim-rob#1-v0.5] robot.odometry_error_max_m 0.803m — removed
test_landing[msairsim-rob#1-v0.5] robot.odometry_altitude_bias_m 0.706m — removed
test_px4_ready[msairsim-rob#1-v1.0] duration_s 0.001s — removed
test_takeoff[msairsim-rob#1-v1.0] duration_s 16.82s — removed
test_takeoff[msairsim-rob#1-v1.0] robot.altitude_error_m -0.048m — removed
test_takeoff[msairsim-rob#1-v1.0] robot.overshoot_m 0m — removed
test_takeoff[msairsim-rob#1-v1.0] robot.takeoff_duration_sim_s 10.22s — removed
test_takeoff[msairsim-rob#1-v1.0] robot.velocity_rmse_m_sim_s 0.393m/s — removed
test_takeoff[msairsim-rob#1-v1.0] robot.odometry_error_mean_m 0.538m — removed
test_takeoff[msairsim-rob#1-v1.0] robot.odometry_error_max_m 0.684m — removed
test_takeoff[msairsim-rob#1-v1.0] robot.odometry_altitude_bias_m 0.538m — removed
test_hover[msairsim-rob#1-v1.0] duration_s 10.07s — removed
test_hover[msairsim-rob#1-v1.0] robot.hover_altitude_mean_error_m 0.127m — removed
test_hover[msairsim-rob#1-v1.0] robot.hover_position_stddev_m 0.06m — removed
test_hover[msairsim-rob#1-v1.0] robot.odometry_error_mean_m 0.697m — removed
test_hover[msairsim-rob#1-v1.0] robot.odometry_error_max_m 0.734m — removed
test_hover[msairsim-rob#1-v1.0] robot.odometry_altitude_bias_m 0.696m — removed
test_landing[msairsim-rob#1-v1.0] duration_s 17.34s — removed
test_landing[msairsim-rob#1-v1.0] robot.final_altitude_m -0.149m — removed
test_landing[msairsim-rob#1-v1.0] robot.land_duration_sim_s 7.2s — removed
test_landing[msairsim-rob#1-v1.0] robot.velocity_rmse_m_sim_s 0.436m/s — removed
test_landing[msairsim-rob#1-v1.0] robot.odometry_error_mean_m 0.679m — removed
test_landing[msairsim-rob#1-v1.0] robot.odometry_error_max_m 0.935m — removed
test_landing[msairsim-rob#1-v1.0] robot.odometry_altitude_bias_m 0.679m — removed
test_px4_ready[msairsim-rob#1-v2.0] duration_s 0.001s — removed
test_takeoff[msairsim-rob#1-v2.0] duration_s 15.89s — removed
test_takeoff[msairsim-rob#1-v2.0] robot.altitude_error_m -0.042m — removed
test_takeoff[msairsim-rob#1-v2.0] robot.overshoot_m 0m — removed
test_takeoff[msairsim-rob#1-v2.0] robot.takeoff_duration_sim_s 10.36s — removed
test_takeoff[msairsim-rob#1-v2.0] robot.velocity_rmse_m_sim_s 1.086m/s — removed
test_takeoff[msairsim-rob#1-v2.0] robot.odometry_error_mean_m 0.541m — removed
test_takeoff[msairsim-rob#1-v2.0] robot.odometry_error_max_m 0.684m — removed
test_takeoff[msairsim-rob#1-v2.0] robot.odometry_altitude_bias_m 0.541m — removed
test_hover[msairsim-rob#1-v2.0] duration_s 10.07s — removed
test_hover[msairsim-rob#1-v2.0] robot.hover_altitude_mean_error_m 0.165m — removed
test_hover[msairsim-rob#1-v2.0] robot.hover_position_stddev_m 0.083m — removed
test_hover[msairsim-rob#1-v2.0] robot.odometry_error_mean_m 0.712m — removed
test_hover[msairsim-rob#1-v2.0] robot.odometry_error_max_m 0.748m — removed
test_hover[msairsim-rob#1-v2.0] robot.odometry_altitude_bias_m 0.712m — removed
test_landing[msairsim-rob#1-v2.0] duration_s 26.67s — removed
test_landing[msairsim-rob#1-v2.0] robot.final_altitude_m -0.143m — removed
test_landing[msairsim-rob#1-v2.0] robot.land_duration_sim_s 6.678s — removed
test_landing[msairsim-rob#1-v2.0] robot.velocity_rmse_m_sim_s 0.944m/s — removed
test_landing[msairsim-rob#1-v2.0] robot.odometry_error_mean_m 0.684m — removed
test_landing[msairsim-rob#1-v2.0] robot.odometry_error_max_m 0.963m — removed
test_landing[msairsim-rob#1-v2.0] robot.odometry_altitude_bias_m 0.684m — removed

@castacks castacks deleted a comment from github-actions Bot May 2, 2026
@castacks castacks deleted a comment from github-actions Bot May 2, 2026
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andrewjong commented May 2, 2026

/pytest -m "build_docker or build_packages or liveliness or takeoff_hover_land"

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github-actions Bot commented May 2, 2026

Running pytest tests/ -m 'build_docker or build_packages or liveliness or takeoff_hover_land' — view run. Status will appear as a check on this PR.

Note: build_packages is automatically prepended whenever any marks are specified, to ensure code is built before launch tests run.

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github-actions Bot commented May 2, 2026

Test Metrics — c46c4a4cc1dd7dc9a6aaf922b38d89884ddd0053

test_build_docker

Pass rates

Test Pass Fail Skip Rate (baseline → current)
test_build_gcs 0 → 1 0 → 0 0 → 0 — → 100%
test_build_isaac_sim 0 → 1 0 → 0 0 → 0 — → 100%
test_build_ms_airsim 0 → 1 0 → 0 0 → 0 — → 100%
test_build_robot_desktop 0 → 1 0 → 0 0 → 0 — → 100%

Metrics

Test Metric Baseline Current Change
test_build_robot_desktop duration_s — 75.78s new
test_build_gcs duration_s — 38.24s new
test_build_isaac_sim duration_s — 147s new
test_build_ms_airsim duration_s — 31.35s new

test_build_packages

Pass rates

Test Pass Fail Skip Rate (baseline → current)
test_colcon_build_gcs 0 → 1 0 → 0 0 → 0 — → 100%
test_colcon_build_ms_airsim 0 → 1 0 → 0 0 → 0 — → 100%
test_colcon_build_robot 0 → 1 0 → 0 0 → 0 — → 100%

Metrics

Test Metric Baseline Current Change
test_colcon_build_robot duration_s — 170s new
test_colcon_build_gcs duration_s — 57.39s new
test_colcon_build_ms_airsim duration_s — 12.49s new

test_liveliness

Pass rates

Test Pass Fail Skip Rate (baseline → current)
test_compute_usage[isaacsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_compute_usage[isaacsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_compute_usage[msairsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_compute_usage[msairsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_gcs_container_running[isaacsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_gcs_container_running[isaacsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_gcs_container_running[msairsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_gcs_container_running[msairsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_realtime_factor[isaacsim-rob#1] 0 → 0 0 → 1 0 → 0 — → 0%
test_realtime_factor[isaacsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_realtime_factor[msairsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_realtime_factor[msairsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_robot_containers_running[isaacsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_robot_containers_running[isaacsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_robot_containers_running[msairsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_robot_containers_running[msairsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_sentinel_nodes_present[isaacsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_sentinel_nodes_present[isaacsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_sentinel_nodes_present[msairsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_sentinel_nodes_present[msairsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_sim_container_running[isaacsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_sim_container_running[isaacsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_sim_container_running[msairsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_sim_container_running[msairsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_sim_publishing[isaacsim-rob#1] 0 → 0 0 → 1 0 → 0 — → 0%
test_sim_publishing[isaacsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_sim_publishing[msairsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_sim_publishing[msairsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_sim_ready_time[isaacsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_sim_ready_time[isaacsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_sim_ready_time[msairsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_sim_ready_time[msairsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_stable[isaacsim-rob#1] 0 → 0 0 → 0 0 → 1 — → —
test_stable[isaacsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_stable[msairsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_stable[msairsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_tmux_panes_have_expected_processes[isaacsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_tmux_panes_have_expected_processes[isaacsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%
test_tmux_panes_have_expected_processes[msairsim-rob#1] 0 → 1 0 → 0 0 → 0 — → 100%
test_tmux_panes_have_expected_processes[msairsim-rob#3] 0 → 1 0 → 0 0 → 0 — → 100%

Metrics

Test Metric Baseline Current Change
test_robot_containers_running[msairsim-rob#1] duration_s — 2.004s new
test_robot_containers_running[msairsim-rob#1] airstack_up_duration_s — 1.59s new
test_robot_containers_running[msairsim-rob#1] airstack_down_duration_s — 10.92s new
test_sim_container_running[msairsim-rob#1] duration_s — 0.017s new
test_gcs_container_running[msairsim-rob#1] duration_s — 0.045s new
test_sim_ready_time[msairsim-rob#1] duration_s — 8.117s new
test_sim_ready_time[msairsim-rob#1] sim_ready_duration_s — 9.82s new
test_tmux_panes_have_expected_processes[msairsim-rob#1] duration_s — 0.194s new
test_sim_publishing[msairsim-rob#1] duration_s — 10.44s new
test_compute_usage[msairsim-rob#1] duration_s — 2.691s new
test_realtime_factor[msairsim-rob#1] duration_s — 23.02s new
test_realtime_factor[msairsim-rob#1] sim.realtime_factor — 0.995 new
test_sentinel_nodes_present[msairsim-rob#1] duration_s — 1.445s new
test_stable[msairsim-rob#1] duration_s — 288.4s new
test_robot_containers_running[msairsim-rob#3] duration_s — 14.18s new
test_robot_containers_running[msairsim-rob#3] airstack_up_duration_s — 2.66s new
test_robot_containers_running[msairsim-rob#3] airstack_down_duration_s — 11.3s new
test_sim_container_running[msairsim-rob#3] duration_s — 0.03s new
test_gcs_container_running[msairsim-rob#3] duration_s — 0.094s new
test_sim_ready_time[msairsim-rob#3] duration_s — 4.573s new
test_sim_ready_time[msairsim-rob#3] sim_ready_duration_s — 7.5s new
test_tmux_panes_have_expected_processes[msairsim-rob#3] duration_s — 0.429s new
test_sim_publishing[msairsim-rob#3] duration_s — 10.55s new
test_compute_usage[msairsim-rob#3] duration_s — 2.687s new
test_realtime_factor[msairsim-rob#3] duration_s — 22.44s new
test_realtime_factor[msairsim-rob#3] sim.realtime_factor — 1.001 new
test_sentinel_nodes_present[msairsim-rob#3] duration_s — 11.53s new
test_stable[msairsim-rob#3] duration_s — 311.8s new
test_robot_containers_running[isaacsim-rob#1] duration_s — 13.53s new
test_robot_containers_running[isaacsim-rob#1] airstack_up_duration_s — 1.77s new
test_robot_containers_running[isaacsim-rob#1] airstack_down_duration_s — 12.32s new
test_sim_container_running[isaacsim-rob#1] duration_s — 0.018s new
test_gcs_container_running[isaacsim-rob#1] duration_s — 0.045s new
test_sim_ready_time[isaacsim-rob#1] duration_s — 47.8s new
test_sim_ready_time[isaacsim-rob#1] sim_ready_duration_s — 49.68s new
test_tmux_panes_have_expected_processes[isaacsim-rob#1] duration_s — 0.195s new
test_sim_publishing[isaacsim-rob#1] duration_s — 10.68s new
test_compute_usage[isaacsim-rob#1] duration_s — 2.629s new
test_realtime_factor[isaacsim-rob#1] duration_s — 5.509s new
test_sentinel_nodes_present[isaacsim-rob#1] duration_s — 7.054s new
test_stable[isaacsim-rob#1] duration_s — 0s new
test_robot_containers_running[isaacsim-rob#3] duration_s — 15.57s new
test_robot_containers_running[isaacsim-rob#3] airstack_up_duration_s — 2.67s new
test_robot_containers_running[isaacsim-rob#3] airstack_down_duration_s — 12.52s new
test_sim_container_running[isaacsim-rob#3] duration_s — 0.029s new
test_gcs_container_running[isaacsim-rob#3] duration_s — 0.08s new
test_sim_ready_time[isaacsim-rob#3] duration_s — 68.67s new
test_sim_ready_time[isaacsim-rob#3] sim_ready_duration_s — 71.58s new
test_tmux_panes_have_expected_processes[isaacsim-rob#3] duration_s — 0.385s new
test_sim_publishing[isaacsim-rob#3] duration_s — 10.66s new
test_compute_usage[isaacsim-rob#3] duration_s — 2.671s new
test_realtime_factor[isaacsim-rob#3] duration_s — 22.64s new
test_realtime_factor[isaacsim-rob#3] sim.realtime_factor — 0.746 new
test_sentinel_nodes_present[isaacsim-rob#3] duration_s — 11.69s new
test_stable[isaacsim-rob#3] duration_s — 324.5s new

Sim publishing rates (baseline n=None, current n=1; baseline → current, per-topic)

Test Topic mean start_mean end_mean min max
test_stable[msairsim-rob#1] clock 46.24Hz 45.49Hz (t=10-60s) 46.99Hz (t=70-120s) 31.2Hz 56.8Hz
test_stable[msairsim-rob#1] robot.sensors.front_stereo.left.image_rect 4.17Hz 3.56Hz (t=10-60s) 4.79Hz (t=70-120s) 2.852Hz 9.372Hz
test_stable[msairsim-rob#1] robot.sensors.front_stereo.right.image_rect 3.96Hz 3.65Hz (t=10-60s) 4.28Hz (t=70-120s) 3.344Hz 5.354Hz
test_stable[msairsim-rob#1] robot.sensors.front_stereo.left.depth_ground_truth 3.34Hz 3.25Hz (t=10-60s) 3.43Hz (t=70-120s) 2.308Hz 3.858Hz
test_stable[msairsim-rob#1] robot.sensors.front_stereo.right.depth_ground_truth 4.8Hz 3.85Hz (t=10-60s) 5.75Hz (t=70-120s) 2.882Hz 10.26Hz
test_stable[msairsim-rob#3] clock 48.59Hz 41.76Hz (t=10-60s) 55.41Hz (t=70-120s) 33.47Hz 73.88Hz
test_stable[msairsim-rob#3] robot.sensors.front_stereo.left.image_rect 3.28Hz 3.43Hz (t=10-60s) 3.14Hz (t=70-120s) 2.244Hz 7.447Hz
test_stable[msairsim-rob#3] robot.sensors.front_stereo.right.image_rect 3.66Hz 3.79Hz (t=10-60s) 3.52Hz (t=70-120s) 2.315Hz 8.6Hz
test_stable[msairsim-rob#3] robot.sensors.front_stereo.left.depth_ground_truth 2.87Hz 2.88Hz (t=10-60s) 2.85Hz (t=70-120s) 1.915Hz 3.137Hz
test_stable[msairsim-rob#3] robot.sensors.front_stereo.right.depth_ground_truth 3.35Hz 3.18Hz (t=10-60s) 3.51Hz (t=70-120s) 1.873Hz 8.698Hz
test_stable[isaacsim-rob#3] clock 23.36Hz 23.95Hz (t=10-60s) 22.78Hz (t=70-120s) 21.66Hz 25.18Hz
test_stable[isaacsim-rob#3] robot.sensors.front_stereo.left.image_rect 23.11Hz 23.43Hz (t=10-60s) 22.8Hz (t=70-120s) 17.49Hz 25.78Hz
test_stable[isaacsim-rob#3] robot.sensors.front_stereo.right.image_rect 22.24Hz 22.94Hz (t=10-60s) 21.54Hz (t=70-120s) 16.43Hz 25.36Hz
test_stable[isaacsim-rob#3] robot.sensors.front_stereo.left.depth_ground_truth 18.48Hz 18.68Hz (t=10-60s) 18.28Hz (t=70-120s) 10.32Hz 25.17Hz
test_stable[isaacsim-rob#3] robot.sensors.front_stereo.right.depth_ground_truth 20.61Hz 20.25Hz (t=10-60s) 20.97Hz (t=70-120s) 15.1Hz 25.24Hz

Compute usage (baseline n=None, current n=1; baseline → current, per-container and global)

Test Entity Metric mean start_mean end_mean min max
test_stable[msairsim-rob#1] ms-airsim cpu_pct 309.7% 308.5% (t=10-60s) 310.9% (t=70-120s) 302.8% 315.8%
test_stable[msairsim-rob#1] ms-airsim mem_mb 668.1MB 666.3MB (t=10-60s) 669.9MB (t=70-120s) 663.4MB 671.7MB
test_stable[msairsim-rob#1] ms-airsim disk_io_mb 517.5MB 490.5MB (t=10-60s) 544.5MB (t=70-120s) 468MB 567MB
test_stable[msairsim-rob#1] ms-airsim net_io_mb 3771MB 2456MB (t=10-60s) 5086MB (t=70-120s) 1390MB 6193MB
test_stable[msairsim-rob#1] host cpu_pct 14.16% 13.88% (t=10-60s) 14.43% (t=70-120s) 12.3% 16.6%
test_stable[msairsim-rob#1] host mem_mb 3831MB 3810MB (t=10-60s) 3852MB (t=70-120s) 3774MB 3866MB
test_stable[msairsim-rob#1] host gpu_pct 66% 65.17% (t=10-60s) 66.83% (t=70-120s) 58% 71%
test_stable[msairsim-rob#1] host vram_mb 727.8MB 728MB (t=10-60s) 727.5MB (t=70-120s) 727MB 728MB
test_stable[msairsim-rob#1] host gpu_temp_c 38°C 37°C (t=10-60s) 39°C (t=70-120s) 35°C 39°C
test_stable[msairsim-rob#1] host gpu_power_w 99.44W 98.6W (t=10-60s) 100.3W (t=70-120s) 97.4W 102W
test_stable[msairsim-rob#1] airstack-robot-desktop cpu_pct 198.9% 198.8% (t=10-60s) 199% (t=70-120s) 167.8% 229.8%
test_stable[msairsim-rob#1] airstack-robot-desktop mem_mb 867.6MB 862MB (t=10-60s) 873.1MB (t=70-120s) 854.6MB 881.9MB
test_stable[msairsim-rob#1] airstack-robot-desktop disk_io_mb 303.1MB 302.9MB (t=10-60s) 303.2MB (t=70-120s) 302.5MB 303.3MB
test_stable[msairsim-rob#1] airstack-robot-desktop net_io_mb 3694MB 2353MB (t=10-60s) 5034MB (t=70-120s) 1266MB 6169MB
test_stable[msairsim-rob#1] airstack-gcs cpu_pct 51.15% 46.78% (t=10-60s) 55.53% (t=70-120s) 13.35% 94.06%
test_stable[msairsim-rob#1] airstack-gcs mem_mb 422.4MB 421.8MB (t=10-60s) 423MB (t=70-120s) 420.5MB 423.6MB
test_stable[msairsim-rob#1] airstack-gcs disk_io_mb 167.1MB 167.1MB (t=10-60s) 167.2MB (t=70-120s) 167MB 167.3MB
test_stable[msairsim-rob#1] airstack-gcs net_io_mb 93.64MB 58MB (t=10-60s) 129.3MB (t=70-120s) 30.1MB 158.5MB
test_stable[msairsim-rob#3] ms-airsim cpu_pct 512.1% 513.8% (t=10-60s) 510.3% (t=70-120s) 503.3% 524.2%
test_stable[msairsim-rob#3] ms-airsim mem_mb 740.4MB 735MB (t=10-60s) 745.7MB (t=70-120s) 732.4MB 749.2MB
test_stable[msairsim-rob#3] ms-airsim disk_io_mb 243.7MB 156.7MB (t=10-60s) 330.7MB (t=70-120s) 84MB 403MB
test_stable[msairsim-rob#3] ms-airsim net_io_mb 1.004e+04MB 6456MB (t=10-60s) 1.362e+04MB (t=70-120s) 3449MB 1.658e+04MB
test_stable[msairsim-rob#3] host cpu_pct 33% 32.73% (t=10-60s) 33.27% (t=70-120s) 28.6% 36.1%
test_stable[msairsim-rob#3] host mem_mb 5566MB 5548MB (t=10-60s) 5583MB (t=70-120s) 5501MB 5603MB
test_stable[msairsim-rob#3] host gpu_pct 53% 53.83% (t=10-60s) 52.17% (t=70-120s) 45% 59%
test_stable[msairsim-rob#3] host vram_mb 847MB 847MB (t=10-60s) 847MB (t=70-120s) 847MB 847MB
test_stable[msairsim-rob#3] host gpu_temp_c 36°C 36°C (t=10-60s) 36°C (t=70-120s) 36°C 36°C
test_stable[msairsim-rob#3] host gpu_power_w 88.11W 88.7W (t=10-60s) 87.52W (t=70-120s) 85.89W 90.59W
test_stable[msairsim-rob#3] airstack-robot-desktop cpu_pct 190.2% 192.5% (t=10-60s) 188% (t=70-120s) 163.9% 222.4%
test_stable[msairsim-rob#3] airstack-robot-desktop mem_mb 683.3MB 679.4MB (t=10-60s) 687.3MB (t=70-120s) 670.2MB 701.6MB
test_stable[msairsim-rob#3] airstack-robot-desktop disk_io_mb 14.71MB 14.45MB (t=10-60s) 14.96MB (t=70-120s) 13.8MB 16.6MB
test_stable[msairsim-rob#3] airstack-robot-desktop net_io_mb 3444MB 2225MB (t=10-60s) 4662MB (t=70-120s) 1132MB 5833MB
test_stable[msairsim-rob#3] airstack-gcs cpu_pct 145.3% 151% (t=10-60s) 139.6% (t=70-120s) 104% 198.8%
test_stable[msairsim-rob#3] airstack-gcs mem_mb 419.7MB 415.9MB (t=10-60s) 423.4MB (t=70-120s) 415.2MB 440.3MB
test_stable[msairsim-rob#3] airstack-gcs disk_io_mb 8.73MB 8.65MB (t=10-60s) 8.8MB (t=70-120s) 8.594MB 8.864MB
test_stable[msairsim-rob#3] airstack-gcs net_io_mb 311.3MB 200.4MB (t=10-60s) 422.2MB (t=70-120s) 112MB 516MB
test_stable[isaacsim-rob#3] isaac-sim cpu_pct 627.3% 627.3% (t=10-60s) 627.3% (t=70-120s) 594.2% 688.9%
test_stable[isaacsim-rob#3] isaac-sim mem_mb 1.193e+04MB 1.192e+04MB (t=10-60s) 1.193e+04MB (t=70-120s) 1.192e+04MB 1.194e+04MB
test_stable[isaacsim-rob#3] isaac-sim disk_io_mb 513.3MB 465.1MB (t=10-60s) 561.6MB (t=70-120s) 425.1MB 601.1MB
test_stable[isaacsim-rob#3] isaac-sim net_io_mb 4.381e+04MB 2.828e+04MB (t=10-60s) 5.934e+04MB (t=70-120s) 1.506e+04MB 7.228e+04MB
test_stable[isaacsim-rob#3] host cpu_pct 31.88% 31.9% (t=10-60s) 31.85% (t=70-120s) 28.3% 37%
test_stable[isaacsim-rob#3] host mem_mb 1.836e+04MB 1.835e+04MB (t=10-60s) 1.836e+04MB (t=70-120s) 1.83e+04MB 1.841e+04MB
test_stable[isaacsim-rob#3] host gpu_pct 29.17% 30.33% (t=10-60s) 28% (t=70-120s) 25% 32%
test_stable[isaacsim-rob#3] host vram_mb 3560MB 3560MB (t=10-60s) 3560MB (t=70-120s) 3560MB 3560MB
test_stable[isaacsim-rob#3] host gpu_temp_c 35.58°C 35.33°C (t=10-60s) 35.83°C (t=70-120s) 35°C 36°C
test_stable[isaacsim-rob#3] host gpu_power_w 85.52W 85.2W (t=10-60s) 85.83W (t=70-120s) 84.01W 88.76W
test_stable[isaacsim-rob#3] airstack-robot-desktop cpu_pct 173.5% 171.9% (t=10-60s) 175% (t=70-120s) 116% 211.5%
test_stable[isaacsim-rob#3] airstack-robot-desktop mem_mb 686.8MB 683.3MB (t=10-60s) 690.3MB (t=70-120s) 673.3MB 703MB
test_stable[isaacsim-rob#3] airstack-robot-desktop disk_io_mb 18.18MB 18.05MB (t=10-60s) 18.3MB (t=70-120s) 14.7MB 23MB
test_stable[isaacsim-rob#3] airstack-robot-desktop net_io_mb 1.471e+04MB 9504MB (t=10-60s) 1.991e+04MB (t=70-120s) 5063MB 2.427e+04MB
test_stable[isaacsim-rob#3] airstack-gcs cpu_pct 88.22% 88.97% (t=10-60s) 87.47% (t=70-120s) 77.51% 108.6%
test_stable[isaacsim-rob#3] airstack-gcs mem_mb 416.2MB 416.1MB (t=10-60s) 416.3MB (t=70-120s) 415.9MB 416.7MB
test_stable[isaacsim-rob#3] airstack-gcs disk_io_mb 10.07MB 10MB (t=10-60s) 10.15MB (t=70-120s) 9.93MB 10.2MB
test_stable[isaacsim-rob#3] airstack-gcs net_io_mb 372.6MB 267MB (t=10-60s) 478.2MB (t=70-120s) 180.1MB 566MB

test_takeoff_hover_land

Pass rates

Test Pass Fail Skip Rate (baseline → current)
test_hover[isaacsim-rob#1-v0.5] 0 → 1 0 → 0 0 → 0 — → 100%
test_hover[isaacsim-rob#3-v0.5] 0 → 1 0 → 0 0 → 0 — → 100%
test_hover[msairsim-rob#1-v0.5] 1 → 1 0 → 0 0 → 0 100% → 100%
test_hover[msairsim-rob#1-v1.0] 1 → 0 0 → 0 0 → 0 100% → —
test_hover[msairsim-rob#1-v2.0] 1 → 0 0 → 0 0 → 0 100% → —
test_hover[msairsim-rob#3-v0.5] 0 → 1 0 → 0 0 → 0 — → 100%
test_landing[isaacsim-rob#1-v0.5] 0 → 1 0 → 0 0 → 0 — → 100%
test_landing[isaacsim-rob#3-v0.5] 0 → 1 0 → 0 0 → 0 — → 100%
test_landing[msairsim-rob#1-v0.5] 1 → 1 0 → 0 0 → 0 100% → 100%
test_landing[msairsim-rob#1-v1.0] 1 → 0 0 → 0 0 → 0 100% → —
test_landing[msairsim-rob#1-v2.0] 1 → 0 0 → 0 0 → 0 100% → —
test_landing[msairsim-rob#3-v0.5] 0 → 1 0 → 0 0 → 0 — → 100%
test_px4_ready[isaacsim-rob#1-v0.5] 0 → 1 0 → 0 0 → 0 — → 100%
test_px4_ready[isaacsim-rob#3-v0.5] 0 → 1 0 → 0 0 → 0 — → 100%
test_px4_ready[msairsim-rob#1-v0.5] 1 → 1 0 → 0 0 → 0 100% → 100%
test_px4_ready[msairsim-rob#1-v1.0] 1 → 0 0 → 0 0 → 0 100% → —
test_px4_ready[msairsim-rob#1-v2.0] 1 → 0 0 → 0 0 → 0 100% → —
test_px4_ready[msairsim-rob#3-v0.5] 0 → 1 0 → 0 0 → 0 — → 100%
test_takeoff[isaacsim-rob#1-v0.5] 0 → 1 0 → 0 0 → 0 — → 100%
test_takeoff[isaacsim-rob#3-v0.5] 0 → 1 0 → 0 0 → 0 — → 100%
test_takeoff[msairsim-rob#1-v0.5] 1 → 1 0 → 0 0 → 0 100% → 100%
test_takeoff[msairsim-rob#1-v1.0] 1 → 0 0 → 0 0 → 0 100% → —
test_takeoff[msairsim-rob#1-v2.0] 1 → 0 0 → 0 0 → 0 100% → —
test_takeoff[msairsim-rob#3-v0.5] 0 → 1 0 → 0 0 → 0 — → 100%

Metrics

Test Metric Baseline Current Change
test_px4_ready[isaacsim-rob#1-v0.5] duration_s — 74.69s new
test_px4_ready[isaacsim-rob#1-v0.5] airstack_up_duration_s — 1.89s new
test_px4_ready[isaacsim-rob#1-v0.5] airstack_down_duration_s — 12.41s new
test_px4_ready[isaacsim-rob#1-v0.5] robot.ready_duration_sys_s — 72.3s new
test_takeoff[isaacsim-rob#1-v0.5] duration_s — 16.86s new
test_takeoff[isaacsim-rob#1-v0.5] robot.altitude_error_m — -0.113m new
test_takeoff[isaacsim-rob#1-v0.5] robot.overshoot_m — 0m new
test_takeoff[isaacsim-rob#1-v0.5] robot.takeoff_duration_sim_s — 17.88s new
test_takeoff[isaacsim-rob#1-v0.5] robot.velocity_rmse_m_sim_s — 0.111m/s new
test_hover[isaacsim-rob#1-v0.5] duration_s — 10.06s new
test_hover[isaacsim-rob#1-v0.5] robot.hover_altitude_mean_error_m — 0.011m new
test_hover[isaacsim-rob#1-v0.5] robot.hover_position_stddev_m — 0.052m new
test_landing[isaacsim-rob#1-v0.5] duration_s — 18.49s new
test_landing[isaacsim-rob#1-v0.5] robot.final_altitude_m — -0.002m new
test_landing[isaacsim-rob#1-v0.5] robot.land_duration_sim_s — 14.79s new
test_landing[isaacsim-rob#1-v0.5] robot.velocity_rmse_m_sim_s — 0.1m/s new
test_px4_ready[isaacsim-rob#3-v0.5] duration_s — 106.1s new
test_px4_ready[isaacsim-rob#3-v0.5] airstack_up_duration_s — 2.64s new
test_px4_ready[isaacsim-rob#3-v0.5] airstack_down_duration_s — 12.53s new
test_px4_ready[isaacsim-rob#3-v0.5] robot.ready_duration_sys_s — 80.28s new
test_takeoff[isaacsim-rob#3-v0.5] duration_s — 32.85s new
test_takeoff[isaacsim-rob#3-v0.5] robot.altitude_error_m — -0.149m new
test_takeoff[isaacsim-rob#3-v0.5] robot.overshoot_m — 0m new
test_takeoff[isaacsim-rob#3-v0.5] robot.takeoff_duration_sim_s — 17.73s new
test_takeoff[isaacsim-rob#3-v0.5] robot.velocity_rmse_m_sim_s — 0.105m/s new
test_hover[isaacsim-rob#3-v0.5] duration_s — 10.11s new
test_hover[isaacsim-rob#3-v0.5] robot.hover_altitude_mean_error_m — 0.019m new
test_hover[isaacsim-rob#3-v0.5] robot.hover_position_stddev_m — 0.017m new
test_landing[isaacsim-rob#3-v0.5] duration_s — 38.73s new
test_landing[isaacsim-rob#3-v0.5] robot.final_altitude_m — -0.004m new
test_landing[isaacsim-rob#3-v0.5] robot.land_duration_sim_s — 14.52s new
test_landing[isaacsim-rob#3-v0.5] robot.velocity_rmse_m_sim_s — 0.097m/s new
test_px4_ready[msairsim-rob#1-v0.5] duration_s 215.2s 25.15s -88.3% 🟢
test_px4_ready[msairsim-rob#1-v0.5] airstack_up_duration_s 3.22s 1.79s -44.4% 🟢
test_px4_ready[msairsim-rob#1-v0.5] airstack_down_duration_s 11.02s 10.93s -0.8%
test_px4_ready[msairsim-rob#1-v0.5] robot.ready_duration_sys_s 211.3s 10.35s -95.1% 🟢
test_takeoff[msairsim-rob#1-v0.5] duration_s 24.1s 24.01s -0.4%
test_takeoff[msairsim-rob#1-v0.5] robot.altitude_error_m -0.089m -0.095m +6.7%
test_takeoff[msairsim-rob#1-v0.5] robot.overshoot_m 0m 0m +0.0%
test_takeoff[msairsim-rob#1-v0.5] robot.takeoff_duration_sim_s 18.64s 18.66s +0.1%
test_takeoff[msairsim-rob#1-v0.5] robot.velocity_rmse_m_sim_s 0.217m/s 0.213m/s -1.8%
test_takeoff[msairsim-rob#1-v0.5] robot.odometry_error_mean_m 0.579m 0.576m -0.5%
test_takeoff[msairsim-rob#1-v0.5] robot.odometry_error_max_m 0.669m 0.669m +0.0%
test_takeoff[msairsim-rob#1-v0.5] robot.odometry_altitude_bias_m 0.575m 0.571m -0.7%
test_hover[msairsim-rob#1-v0.5] duration_s 10.06s 10.09s +0.3%
test_hover[msairsim-rob#1-v0.5] robot.hover_altitude_mean_error_m 0.046m 0.091m +97.8% 🔴
test_hover[msairsim-rob#1-v0.5] robot.hover_position_stddev_m 0.023m 0.053m +130.4% 🔴
test_hover[msairsim-rob#1-v0.5] robot.odometry_error_mean_m 0.674m 0.685m +1.6%
test_hover[msairsim-rob#1-v0.5] robot.odometry_error_max_m 0.696m 0.703m +1.0%
test_hover[msairsim-rob#1-v0.5] robot.odometry_altitude_bias_m 0.674m 0.685m +1.6%
test_landing[msairsim-rob#1-v0.5] duration_s 26.44s 26.59s +0.6%
test_landing[msairsim-rob#1-v0.5] robot.final_altitude_m -0.097m -0.081m -16.5%
test_landing[msairsim-rob#1-v0.5] robot.land_duration_sim_s 14.8s 14.8s -0.0%
test_landing[msairsim-rob#1-v0.5] robot.velocity_rmse_m_sim_s 0.226m/s 0.242m/s +7.1%
test_landing[msairsim-rob#1-v0.5] robot.odometry_error_mean_m 0.707m 0.722m +2.1%
test_landing[msairsim-rob#1-v0.5] robot.odometry_error_max_m 0.803m 0.81m +0.9%
test_landing[msairsim-rob#1-v0.5] robot.odometry_altitude_bias_m 0.706m 0.722m +2.3%
test_px4_ready[msairsim-rob#3-v0.5] duration_s — 38.37s new
test_px4_ready[msairsim-rob#3-v0.5] airstack_up_duration_s — 2.6s new
test_px4_ready[msairsim-rob#3-v0.5] airstack_down_duration_s — 11.28s new
test_px4_ready[msairsim-rob#3-v0.5] robot.ready_duration_sys_s — 17.77s new
test_takeoff[msairsim-rob#3-v0.5] duration_s — 26.14s new
test_takeoff[msairsim-rob#3-v0.5] robot.altitude_error_m — -0.093m new
test_takeoff[msairsim-rob#3-v0.5] robot.overshoot_m — 0m new
test_takeoff[msairsim-rob#3-v0.5] robot.takeoff_duration_sim_s — 18.66s new
test_takeoff[msairsim-rob#3-v0.5] robot.velocity_rmse_m_sim_s — 0.207m/s new
test_takeoff[msairsim-rob#3-v0.5] robot.odometry_error_mean_m — 0.578m new
test_takeoff[msairsim-rob#3-v0.5] robot.odometry_error_max_m — 0.671m new
test_takeoff[msairsim-rob#3-v0.5] robot.odometry_altitude_bias_m — 0.574m new
test_hover[msairsim-rob#3-v0.5] duration_s — 10.22s new
test_hover[msairsim-rob#3-v0.5] robot.hover_altitude_mean_error_m — 0.074m new
test_hover[msairsim-rob#3-v0.5] robot.hover_position_stddev_m — 0.038m new
test_hover[msairsim-rob#3-v0.5] robot.odometry_error_mean_m — 0.683m new
test_hover[msairsim-rob#3-v0.5] robot.odometry_error_max_m — 0.707m new
test_hover[msairsim-rob#3-v0.5] robot.odometry_altitude_bias_m — 0.683m new
test_landing[msairsim-rob#3-v0.5] duration_s — 39.25s new
test_landing[msairsim-rob#3-v0.5] robot.final_altitude_m — -0.095m new
test_landing[msairsim-rob#3-v0.5] robot.land_duration_sim_s — 14.8s new
test_landing[msairsim-rob#3-v0.5] robot.velocity_rmse_m_sim_s — 0.208m/s new
test_landing[msairsim-rob#3-v0.5] robot.odometry_error_mean_m — 0.72m new
test_landing[msairsim-rob#3-v0.5] robot.odometry_error_max_m — 0.83m new
test_landing[msairsim-rob#3-v0.5] robot.odometry_altitude_bias_m — 0.719m new
test_px4_ready[msairsim-rob#1-v1.0] duration_s 0.001s — removed
test_takeoff[msairsim-rob#1-v1.0] duration_s 16.82s — removed
test_takeoff[msairsim-rob#1-v1.0] robot.altitude_error_m -0.048m — removed
test_takeoff[msairsim-rob#1-v1.0] robot.overshoot_m 0m — removed
test_takeoff[msairsim-rob#1-v1.0] robot.takeoff_duration_sim_s 10.22s — removed
test_takeoff[msairsim-rob#1-v1.0] robot.velocity_rmse_m_sim_s 0.393m/s — removed
test_takeoff[msairsim-rob#1-v1.0] robot.odometry_error_mean_m 0.538m — removed
test_takeoff[msairsim-rob#1-v1.0] robot.odometry_error_max_m 0.684m — removed
test_takeoff[msairsim-rob#1-v1.0] robot.odometry_altitude_bias_m 0.538m — removed
test_hover[msairsim-rob#1-v1.0] duration_s 10.07s — removed
test_hover[msairsim-rob#1-v1.0] robot.hover_altitude_mean_error_m 0.127m — removed
test_hover[msairsim-rob#1-v1.0] robot.hover_position_stddev_m 0.06m — removed
test_hover[msairsim-rob#1-v1.0] robot.odometry_error_mean_m 0.697m — removed
test_hover[msairsim-rob#1-v1.0] robot.odometry_error_max_m 0.734m — removed
test_hover[msairsim-rob#1-v1.0] robot.odometry_altitude_bias_m 0.696m — removed
test_landing[msairsim-rob#1-v1.0] duration_s 17.34s — removed
test_landing[msairsim-rob#1-v1.0] robot.final_altitude_m -0.149m — removed
test_landing[msairsim-rob#1-v1.0] robot.land_duration_sim_s 7.2s — removed
test_landing[msairsim-rob#1-v1.0] robot.velocity_rmse_m_sim_s 0.436m/s — removed
test_landing[msairsim-rob#1-v1.0] robot.odometry_error_mean_m 0.679m — removed
test_landing[msairsim-rob#1-v1.0] robot.odometry_error_max_m 0.935m — removed
test_landing[msairsim-rob#1-v1.0] robot.odometry_altitude_bias_m 0.679m — removed
test_px4_ready[msairsim-rob#1-v2.0] duration_s 0.001s — removed
test_takeoff[msairsim-rob#1-v2.0] duration_s 15.89s — removed
test_takeoff[msairsim-rob#1-v2.0] robot.altitude_error_m -0.042m — removed
test_takeoff[msairsim-rob#1-v2.0] robot.overshoot_m 0m — removed
test_takeoff[msairsim-rob#1-v2.0] robot.takeoff_duration_sim_s 10.36s — removed
test_takeoff[msairsim-rob#1-v2.0] robot.velocity_rmse_m_sim_s 1.086m/s — removed
test_takeoff[msairsim-rob#1-v2.0] robot.odometry_error_mean_m 0.541m — removed
test_takeoff[msairsim-rob#1-v2.0] robot.odometry_error_max_m 0.684m — removed
test_takeoff[msairsim-rob#1-v2.0] robot.odometry_altitude_bias_m 0.541m — removed
test_hover[msairsim-rob#1-v2.0] duration_s 10.07s — removed
test_hover[msairsim-rob#1-v2.0] robot.hover_altitude_mean_error_m 0.165m — removed
test_hover[msairsim-rob#1-v2.0] robot.hover_position_stddev_m 0.083m — removed
test_hover[msairsim-rob#1-v2.0] robot.odometry_error_mean_m 0.712m — removed
test_hover[msairsim-rob#1-v2.0] robot.odometry_error_max_m 0.748m — removed
test_hover[msairsim-rob#1-v2.0] robot.odometry_altitude_bias_m 0.712m — removed
test_landing[msairsim-rob#1-v2.0] duration_s 26.67s — removed
test_landing[msairsim-rob#1-v2.0] robot.final_altitude_m -0.143m — removed
test_landing[msairsim-rob#1-v2.0] robot.land_duration_sim_s 6.678s — removed
test_landing[msairsim-rob#1-v2.0] robot.velocity_rmse_m_sim_s 0.944m/s — removed
test_landing[msairsim-rob#1-v2.0] robot.odometry_error_mean_m 0.684m — removed
test_landing[msairsim-rob#1-v2.0] robot.odometry_error_max_m 0.963m — removed
test_landing[msairsim-rob#1-v2.0] robot.odometry_altitude_bias_m 0.684m — removed

docker

Metrics

Test Metric Baseline Current Change
docker.gcs image_size_mb — 2024MB new
docker.isaac-sim image_size_mb — 1.253e+04MB new
docker.ms-airsim image_size_mb — 4010MB new

Regression detected — some metrics exceeded the threshold.

@andrewjong andrewjong requested a review from Copilot May 6, 2026 04:43
Copilot AI reviewed May 6, 2026
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Pull request overview

This PR introduces a multi-robot GCS workflow centered around Foxglove: custom panels (waypoints/polygons/tasks), an action relay that bridges task actions across DDS domains, a GCS-side visualizer for unified multi-robot rendering (including a sim overhead “ground”), plus a new coordination/gossip layer for broadcasting peer state and typed payloads.

Changes:

  • Adds Foxglove extensions + persisted waypoint/polygon editors, and wires them into the GCS container startup.
  • Adds cross-domain action relaying (GCS domain 0 ↔ robot domain N) and expands GCS visualization / DDS allowlists for multi-robot use.
  • Adds a new coordination/gossip layer (msgs + bringup + docs) and extends the random-walk planner to support polygon-bounded exploration.

Reviewed changes

Copilot reviewed 76 out of 95 changed files in this pull request and generated 7 comments.

Show a summary per file
File Description
simulation/isaac-sim/utils/scene_prep.py Adds orthographic overhead camera publisher + USD root-prim helpers + collector/texture fixups
simulation/isaac-sim/launch_scripts/two_drone_scene_import.py Removes legacy two-drone import script
simulation/isaac-sim/launch_scripts/gps_utils.py Adds per-drone GPS-origin helpers for multi-drone scenes
simulation/isaac-sim/launch_scripts/example_multi_drone_scene_import.py New reference multi-drone + scene import + overhead camera wiring
simulation/isaac-sim/launch_scripts/barebones_pegasus_launch.py Adds PLAY_SIM_ON_START gating
simulation/isaac-sim/docker/docker-compose.yaml Removes commented HITL service stub
robot/ros_ws/src/global/planners/random_walk/src/random_walk_node.cpp Adds polygon bounds propagation + “approach polygon” pre-flight logic
robot/ros_ws/src/global/planners/random_walk/src/random_walk_logic.cpp Adds point-in-polygon bounds checks + nearest-inside helper
robot/ros_ws/src/global/planners/random_walk/launch/random_walk_launch.xml Updates launch remaps/paths for namespaced usage
robot/ros_ws/src/global/planners/random_walk/include/random_walk_node.hpp Adds storage for pending bounds + mutex
robot/ros_ws/src/global/planners/random_walk/include/random_walk_logic.hpp Adds polygon-bound API + makes mutex mutable for const methods
robot/ros_ws/src/global/planners/random_walk/config/random_walk_config.yaml Adds new config keys and topics for random-walk node
robot/ros_ws/src/global/global_bringup/launch/global.launch.xml Adjusts remaps/naming notes for namespaced random-walk planner
robot/ros_ws/src/autonomy_bringup/onboard_all/config/domain_bridge.yaml Adds additional sim visualization topics to bridge
robot/ros_ws/src/autonomy_bringup/onboard_all/config/dds_router.yaml Expands allowlist for cameras, trajectory vis, global plan; notes about gossip router separation
robot/ros_ws/src/autonomy_bringup/launch/robot.launch.xml Adds coordination/gossip bringup include + args
robot/ros_ws/src/autonomy_bringup/launch/interpolate_dds_router.launch.py Scopes LD_LIBRARY_PATH for ddsrouter execution
mkdocs.yml Adds nav entries for new GCS/sim/coordination docs
gcs/saves/.gitkeep Adds persistent save directory placeholder
gcs/ros_ws/src/gcs_visualizer/setup.py New GCS visualizer ROS 2 Python package setup
gcs/ros_ws/src/gcs_visualizer/setup.cfg New package install script config
gcs/ros_ws/src/gcs_visualizer/resource/gcs_visualizer New ament resource marker
gcs/ros_ws/src/gcs_visualizer/package.xml New package manifest for GCS visualization nodes
gcs/ros_ws/src/gcs_visualizer/launch/gcs_visualizer.launch.xml Launches GCS visualizer + payload + waypoint/polygon collectors
gcs/ros_ws/src/gcs_visualizer/gcs_visualizer/waypoint_collector_node.py Implements waypoint editor backend + save persistence + marker/path publishing
gcs/ros_ws/src/gcs_visualizer/gcs_visualizer/polygon_collector_node.py Implements polygon editor backend + save persistence + marker publishing
gcs/ros_ws/src/gcs_visualizer/gcs_visualizer/payload_visualizer_node.py Republishes gossip payloads per-robot/per-payload for Foxglove
gcs/ros_ws/src/gcs_visualizer/gcs_visualizer/gcs_utils.py Adds shared GCS utilities (PC2→markers, transforms)
gcs/ros_ws/src/gcs_visualizer/gcs_visualizer/init.py Package init
gcs/ros_ws/src/action_relay/setup.py New action relay ROS 2 Python package setup
gcs/ros_ws/src/action_relay/setup.cfg New package install script config
gcs/ros_ws/src/action_relay/resource/action_relay New ament resource marker
gcs/ros_ws/src/action_relay/package.xml New package manifest for action relay
gcs/ros_ws/src/action_relay/launch/action_relay.launch.py Launches one relay instance per robot based on NUM_ROBOTS
gcs/ros_ws/src/action_relay/action_relay/init.py Package init
gcs/foxglove_extensions/waypoint-editor/package.json New Foxglove Waypoint Editor extension metadata
gcs/foxglove_extensions/waypoint-editor/dist/extension.js Bundled Waypoint Editor panel implementation
gcs/foxglove_extensions/robot-commands/package.json New/updated Robot Tasks extension metadata
gcs/foxglove_extensions/render_layout.py Generates NUM_ROBOTS-matched Foxglove layout JSON
gcs/foxglove_extensions/polygon-editor/package.json New Foxglove Polygon Editor extension metadata
gcs/foxglove_extensions/polygon-editor/dist/extension.js Bundled Polygon Editor panel implementation
gcs/foxglove_extensions/install.sh Installs unpacked Foxglove extensions into Foxglove Studio extensions dir
gcs/docker/gcs-base-docker-compose.yaml Runs extension install + layout render; mounts saves + extensions; exports NUM_ROBOTS
docs/simulation/isaac_sim/spawning_drones.md Documents multi-drone spawning + GPS origins pattern
docs/simulation/isaac_sim/overhead_camera.md Documents overhead camera producer and Foxglove ground rendering
docs/robot/autonomy/coordination/payloads.md Documents config-driven gossip payloads + GCS visualization handlers
docs/robot/autonomy/coordination/index.md Documents coordination layer architecture and usage
docs/gcs/waypoints_and_geofences.md Documents waypoint/polygon editor workflow + persistence
docs/gcs/foxglove.md Documents GCS visualizer topics, discovery, and layout behavior
common/ros_packages/robot_descriptions/launch/robot_state_publisher.launch.py Adjusts URDF lookup logic/package reference text
common/ros_packages/robot_descriptions/CMakeLists.txt Minor trailing whitespace change
common/ros_packages/msgs/task_msgs/action/SemanticSearchTask.action Updates semantic-search goal fields and defaults (adds background_queries)
common/ros_packages/gui/rviz/rviz_tasks_panel/src/tasks_panel.cpp Updates RViz task panel fields for semantic search changes
common/ros_packages/desktop_bringup/params/domain_bridge.yaml Minor formatting change
common/ros_packages/desktop_bringup/package.xml Adds deps for new GCS-side components
common/ros_packages/desktop_bringup/launch/gcs.launch.xml Launches Foxglove + bridge + gossip bridge + gcs_visualizer + action_relay
common/ros_packages/coordination/README.md Adds coordination layer README
common/ros_packages/coordination/coordination_msgs/package.xml New coordination_msgs package manifest
common/ros_packages/coordination/coordination_msgs/msg/PeerProfilePayload.msg New payload wire-format message
common/ros_packages/coordination/coordination_msgs/msg/PeerProfile.msg New peer profile wire-format message
common/ros_packages/coordination/coordination_msgs/CMakeLists.txt Builds/generates coordination messages
common/ros_packages/coordination/coordination_bringup/setup.py New coordination_bringup Python package setup
common/ros_packages/coordination/coordination_bringup/scripts/peer_registry_monitor.py Adds CLI monitor for peer registry
common/ros_packages/coordination/coordination_bringup/scripts/gossip_node Adds gossip_node entry script
common/ros_packages/coordination/coordination_bringup/resource/coordination_bringup New ament resource marker
common/ros_packages/coordination/coordination_bringup/package.xml New bringup package manifest
common/ros_packages/coordination/coordination_bringup/launch/gossip.launch.xml Launches per-robot gossip router + gossip node
common/ros_packages/coordination/coordination_bringup/launch/gcs_gossip_bridge.launch.py Launches GCS-side gossip DDS router
common/ros_packages/coordination/coordination_bringup/coordination_bringup/peer_profile.py Adds PeerProfile helper API for payload serialization
common/ros_packages/coordination/coordination_bringup/coordination_bringup/gossip_node.py Implements gossip publishing, payload attachment, registry maintenance
common/ros_packages/coordination/coordination_bringup/coordination_bringup/frame_utils.py Shared GPS/ENU + message transform helpers
common/ros_packages/coordination/coordination_bringup/coordination_bringup/init.py Package init
common/ros_packages/coordination/coordination_bringup/config/gossip_payloads.yaml Adds config-driven payload declaration file
common/ros_packages/coordination/coordination_bringup/config/gossip_dds_router.yaml Adds per-robot gossip DDS router config
common/ros_packages/coordination/coordination_bringup/config/gcs_gossip_dds_router.yaml Adds GCS-side gossip DDS router config
AGENTS.md Adds new skills to agent index
.gitmodules Minor trailing whitespace change
.gitignore Ignores local scenes + persisted GCS saves
.env Bumps version and changes defaults (NUM_ROBOTS, sim script)
.agents/skills/visualize-in-foxglove/SKILL.md Adds skill doc for Foxglove visualization workflow
.agents/skills/attach-gossip-payload/SKILL.md Adds skill doc for adding gossip payloads end-to-end
Comments suppressed due to low confidence (1)

robot/ros_ws/src/global/planners/random_walk/include/random_walk_node.hpp:40

  • This header now includes twice (once newly added and once already present). Please drop the duplicate include to keep the header tidy and avoid redundant work for compilers/unity builds.

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Comment thread robot/ros_ws/src/global/planners/random_walk/src/random_walk_logic.cpp
Comment on lines +227 to 234
// Reject points outside the goal's search_bounds polygon (XY footprint
// in robot-local map). Empty polygon → no-op.
if (!point_in_search_bounds(std::get<0>(point), std::get<1>(point)))
{
return true;
}

std::lock_guard<std::mutex> lock(this->mutex);
Comment thread robot/ros_ws/src/global/planners/random_walk/config/random_walk_config.yaml
Comment on lines 7 to 11
sub_map_topic: "vdb_map_visualization"
sub_odometry_topic: "odometry"
sub_robot_tf_topic: "/tf"
srv_random_walk_toggle_topic: "~/global_plan_toggle"

Comment thread gcs/ros_ws/src/gcs_visualizer/package.xml
Comment on lines +10 to +16
<depend>rclpy</depend>
<depend>sensor_msgs</depend>
<depend>nav_msgs</depend>
<depend>visualization_msgs</depend>
<depend>geometry_msgs</depend>
<depend>builtin_interfaces</depend>
<depend>tf2_ros</depend>
Comment thread common/ros_packages/robot_descriptions/launch/robot_state_publisher.launch.py Outdated
Comment on lines 52 to 57
# Use relative path within autonomy_bringup package
urdf_file = PathJoinSubstitution([
FindPackageShare('robot_bringup'),
FindPackageShare('autonomy_bringup'),
'urdf',
urdf_file_path
])
Comment thread common/ros_packages/coordination/coordination_msgs/msg/PeerProfile.msg Outdated
Comment on lines +7 to +8
# Current GPS position from interface/mavros/global_position/raw/fix
# gps_fix.header.stamp carries the NavSatFix timestamp
Comment thread simulation/isaac-sim/utils/scene_prep.py
Comment on lines 427 to 432
collector = Collector(
usd_path=source_usd_url,
collect_dir=output_dir,
usd_only=False, # include textures, MDLs, etc.
flat_collection=False, # preserve source folder hierarchy
flat_collection=True, # preserve source folder hierarchy
skip_existing=False,
Comment thread .env
Comment on lines 26 to 46
# ================= Common ===================
AUTOLAUNCH="true" # If false, the docker-compose will just spawn idle docker containers with no launch command.
NUM_ROBOTS="1" # Number of robot containers to launch.
NUM_ROBOTS="2" # Number of robot containers to launch.
RECORD_BAGS="false" # "true" or "false"

# ============== ISAAC SIM =====================
ISAAC_SIM_GUI="/isaac-sim/AirStack/simulation/isaac-sim/assets/scenes/simple_pegasus.scene.usd"
# Set to "true" to launch Isaac Sim using a standalone Python script instead of USD file
ISAAC_SIM_USE_STANDALONE="true" # "true" or "false"
# Script name (must be in /AirStack/simulation/isaac-sim/launch_scripts/)
ISAAC_SIM_SCRIPT_NAME="example_one_px4_pegasus_launch_script.py"
ISAAC_SIM_SCRIPT_NAME="example_multi_drone_scene_import.py" #"example_one_px4_pegasus_launch_script.py"
PLAY_SIM_ON_START="false"

# ===============================================

# ================= MS-AIRSIM =====================
# Do not set if you want airstack to fetch a simple blocks world.
# MS_AIRSIM_ENV_DIR=./simulation/ms-airsim/assets/scenes
# MS_AIRSIM_BINARY_PATH="/ms-airsim-env/Blocks/LinuxNoEditor/Blocks.sh"
# =================================================
# =================================================airst

@andrewjong andrewjong requested a review from Copilot May 8, 2026 18:52
Copilot AI reviewed May 8, 2026
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Pull request overview

Copilot reviewed 80 out of 99 changed files in this pull request and generated 10 comments.

Comment thread simulation/isaac-sim/utils/scene_prep.py
Comment on lines +253 to +266
og.Controller.Keys.SET_VALUES: [
(("inputs:domain_id", nodes["context"]), int(domain_id)),
(("inputs:cameraPrim", nodes["create_rp"]), camera_prim_path),
(("inputs:width", nodes["create_rp"]), res),
(("inputs:height", nodes["create_rp"]), res),
(("inputs:type", nodes["rgb"]), "rgb"),
(("inputs:value", nodes["frame"]), str(frame_id)),
(("inputs:value", nodes["topic"]), str(topic)),
(("inputs:value", nodes["spec_value"]), float(coverage_m)),
(("inputs:value", nodes["spec_topic"]), str(spec_topic)),
(("inputs:messageName", nodes["spec_pub"]), "Float32"),
(("inputs:messagePackage", nodes["spec_pub"]), "std_msgs"),
(("inputs:messageSubfolder", nodes["spec_pub"]), "msg"),
],
Comment thread common/ros_packages/coordination/coordination_bringup/coordination_bringup/gossip_node.py Outdated
Comment on lines +127 to +129
period = 1.0 / max(publish_rate, 0.01)
self._publish_timer = self.create_timer(period, self._publish_tick, clock=ROSClock())
self._drain_timer = self.create_timer(0.2, self._drain_peer_inbox, clock=ROSClock())
Comment thread common/ros_packages/coordination/coordination_bringup/setup.py
tests_require=['pytest'],
entry_points={
'console_scripts': [
'gossip_node = coordination_bringup.gossip_node:main',
Comment thread gcs/ros_ws/src/gcs_visualizer/gcs_visualizer/gcs_utils.py
Comment on lines +3 to +13
import math
import copy
import struct

from coordination_bringup.frame_utils import (
gps_to_enu as _gps_to_enu_abs,
heading_to_quat,
rotate_vector,
transform_marker_array,
transform_point_cloud2 as _transform_pc2,
)
Comment thread .agents/skills/visualize-in-foxglove/SKILL.md Outdated
Comment on lines +74 to +80
### Path B — Translate and republish via robot_marker_node

**File:** `gcs/ros_ws/src/gcs_visualizer/gcs_visualizer/robot_marker_node.py`

This node auto-discovers robot topics, applies a GPS boot offset to convert from the
robot's local odom frame to ENU (map frame), and republishes everything as a single
`/gcs/robot_markers` MarkerArray.
Comment thread .agents/skills/attach-gossip-payload/SKILL.md Outdated
Comment thread .agents/skills/attach-gossip-payload/SKILL.md
Comment on lines +94 to +98
### 4a — Read the payload type from `gossip_payloads.yaml`

Open `robot/ros_ws/src/coordination/coordination_bringup/config/gossip_payloads.yaml`
and note the `type:` field for your new entry. This determines how to deserialize it.

Comment thread gcs/foxglove_extensions/render_layout.py
Comment on lines +160 to +168
def main():
ap = argparse.ArgumentParser()
ap.add_argument('--input', default=os.environ.get(
'LAYOUT_TEMPLATE',
'/root/AirStack/gcs/foxglove_extensions/airstack_default.json'))
ap.add_argument('--output', default=os.environ.get(
'LAYOUT_OUTPUT',
'/root/AirStack/gcs/foxglove_extensions/airstack_default.json'))
ap.add_argument('--num-robots', type=int,
Comment thread common/ros_packages/desktop_bringup/launch/gcs.launch.xml Outdated
Comment thread common/ros_packages/gui/rviz/rviz_tasks_panel/src/tasks_panel.cpp
}, true},
{"Semantic Search", "tasks/semantic_search", {
{"query", "string", 0, 0, 0},
{"background_queries", "string", 0, 0, 0},
krrishj18 and others added 15 commits May 8, 2026 15:05
@krrishj18
fixed comment
eb4ed2d 
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
@krrishj18
fixed path in skill
85c8add 
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>
@krrishj18
fixes from copilot
078c182
@krrishj18
Merge remote-tracking branch 'origin/krrish/coord-pr' into krrish/coo…
0b9d791 
…rd-pr
@krrishj18
Merge remote-tracking branch 'origin/main' into krrish/coord-pr
a2a1147 
# Conflicts:
#	simulation/isaac-sim/launch_scripts/two_drone_scene_import.py
@krrishj18 @claude
Fix Pegasus submodule pointer after merge
bfdab68 
Advance to 8e01d013 (main's pointer) which contains spawn_rtx_lidar.py,
required by example_one_px4_pegasus_launch_script.py and the multi
script after the rtx-lidar update merged from main.

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
@krrishj18 @claude
fix(coordination): align gossip with steady clock + manifest hygiene
b07cf26 
- gossip_node: swap startup log + outgoing-stamp clock to STEADY_TIME so
  the dedup-by-stamp invariant survives /clock pauses; subscribe to
  /global_position/global to match foxglove_visualizer and action_relay
- gossip_node docstring: drop the false "waypoint triggers immediate
  publish" claim
- coordination README: rename peer_registry node block to the actual
  per-robot registry topic; "wall-clock" -> "steady"
- package.xml: add missing exec/depend rules
  - coordination_bringup -> autonomy_bringup
  - autonomy_bringup -> coordination_bringup
  - desktop_bringup -> coordination_bringup, gcs_visualizer
  - gcs_visualizer -> std_msgs, coordination_msgs, coordination_bringup
- task_msgs: replace TODO license with BSD-3-Clause
- gcs.launch.xml: comment had `--no-sandbox` (`--` is illegal inside an
  XML comment and crashed the ROS launch parser)

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
@krrishj18 @claude
fix(gcs+autonomy): drop dead BT panel, lint payload imports, name-map…
beba768 
… override

- payload_visualizer_node: remove unused PointCloud2 / transform_point_cloud2
  imports (F401), collapse Marker/MarkerArray
- action_relay launch: ROBOT_RELAY_MAP env override for non-default
  robot_name -> domain mappings (default behavior unchanged)
- desktop_bringup robot.rviz: drop BehaviorTreePanel entry pointing at
  /behavior/behavior_tree_graphviz (publisher package was removed)
- autonomy_bringup domain_bridge: bridge /global_position/global to match
  the dds_router and the rest of the stack (was /raw/fix)

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
@krrishj18 @claude
fix(foxglove): clean panel-id stacking, atomic render, drop dead .foxe
fba3078 
- render_layout: regex now strips every trailing _r<n> (was: only the
  last one), fixes _r1_r1_r1... stacking on repeated runs
- render_layout: atomic write via tmp + os.replace so a partial
  json.dump doesn't corrupt the layout file
- airstack_default.json: re-render with fixed stripper to commit a
  clean source template (no stacked _r1 suffixes)
- install.sh -> install.py: file is Python, shebang is python3
- install.py: slugify publisher into the on-disk extension dir name
  so "AirLab CMU" doesn't produce a directory with a space
- drop robot-commands/robot-commands.foxe (duplicate; canonical is at
  foxglove_extensions/robot-commands.foxe) and the .foxe.bak

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
@krrishj18
bug fixes
21e1820
@krrishj18
bug fixes
009d339
@krrishj18
version
d594e1c
@krrishj18
reverted env
a5bb2f6
@krrishj18
updated gitignore and docs
fef20d5
@krrishj18
updated foxglove viz + consistent spellings across repo
f92ceb9
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@krrishj18 @andrewjong