DisasterWorld integration

The release lock pins a tested integration target, rather than assuming every AirStack version is interchangeable. Setup clones upstream AirStack, registers local module paths in modules.repos, and invokes its module CLI. Generated overlays mount ROS packages and simulator launch scripts without modifying upstream task messages.

Component	DisasterWorld responsibility
asm_disasterworld_sim	Load a downloaded frozen USD scene and configured aircraft spawns
asm_disasterworld_ros	Search policies, the SurvivorSearch action, reports, mission coordination
asm_mighty	Pinned upstream motion planner; fixed speed configured in YAML
asm_offboard	Local detector, BLIP and optional local VLM services
asm_rayfronts	RayFronts container and camera-pose connection used by RAVEN

The CoNavGPT and RAVEN baselines adapt their original implementations for AirStack: Co-NavGPT2 and RAVEN. Source attribution and adaptation details are recorded in the ROS packages and the repository’s NOTICE.

The simulator uses upstream Pegasus. Research camera render gates, tick skipping and time slicing are excluded. SurvivorSearch is a benchmark-owned action; NavigateTask and SemanticSearchTask are not extended. Policies publish nonempty /robot_N/global_plan paths to the upstream MIGHTY follower after takeoff.

The runtime gives each aircraft a ROS domain and bridges named observation/plan topics for cooperative policies. All containers use the benchmark’s isolated Compose project/network. Private survivor annotations are available only to simulation/evaluation.

For detailed RayFronts documentation, see the original RayFronts repository. AirStack module conventions are documented in the AirStack documentation. These integrations can move into upstream AirStack independently of DisasterWorld. Compatibility with later revisions requires explicit adapter testing and updating the lock.