castacks · jfkeller · Jan 6, 2026 · Dec 23, 2025 · Jan 6, 2026 · Dec 23, 2025
diff --git a/.env b/.env
@@ -11,7 +11,7 @@ PROJECT_NAME="airstack"
 # If you've run ./airstack.sh setup, then this will auto-generate from the git commit hash every time a change is made 
 # to a Dockerfile or docker-compose.yaml file. Otherwise this can also be set explicitly to make a release version.
 # auto-generated from git commit hash
-DOCKER_IMAGE_TAG="0.15.0"
+DOCKER_IMAGE_TAG="0.15.1"
 # Can replace with your docker hub username
 PROJECT_DOCKER_REGISTRY="airlab-docker.andrew.cmu.edu/airstack"
 # ============================================

diff --git a/common/ros_packages/rqt_behavior_tree/src/rqt_behavior_tree/py_console.py b/common/ros_packages/rqt_behavior_tree/src/rqt_behavior_tree/py_console.py
@@ -201,7 +201,7 @@ def robot_selection_callback(self, msg):
         if msg.data not in self.behavior_tree_graphviz_subs.keys():
             def callback(m):
                 self.robot_graphviz_callback(msg.data, m)
-            self.behavior_tree_graphviz_subs[msg.data] = self.node.create_subscription(String,
+            self.behavior_tree_graphviz_subs[msg.data] = self.node.create_subscription(GraphVizXdot,
                                                                                        '/' + msg.data + \
                                                                                        '/behavior/behavior_tree_graphviz',
                                                                                        callback,

diff --git a/gcs/docker/Dockerfile.gcs b/gcs/docker/Dockerfile.gcs
@@ -34,28 +34,7 @@ RUN mkdir /var/run/sshd && echo 'root:airstack' | chpasswd && \
 EXPOSE 22
 
 # TMux config
-RUN git clone https://github.com/tmux-plugins/tpm /home/gcs/.tmux/plugins/tpm
-
-
-WORKDIR /home/gcs/AirStack/gcs/ros_ws
-# Make it so that files created within the container reflect the user's UID/GID so they don't have to change file permissions from root. See https://github.com/boxboat/fixuid
-# need to give access to docker to access container name
-# creates user "gcs" with UID 1000, home directory /home/gcs, and shell /bin/sh
-# creates group "gcs" with GID 1000
-RUN addgroup --gid 1000 gcs && \
-  adduser --uid 1000 --ingroup gcs --home /home/gcs --shell /bin/bash --disabled-password --gecos "" gcs && \
-  chown -R gcs:gcs /home/gcs && \
-  usermod -aG sudo gcs && \
-  echo "gcs ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/gcs && \
-  echo "gcs:gcs" | chpasswd
-
-RUN USER=gcs && \
-  GROUP=gcs && \
-  curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.6.0/fixuid-0.6.0-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - && \
-  chown root:root /usr/local/bin/fixuid && \
-  chmod 4755 /usr/local/bin/fixuid && \
-  mkdir -p /etc/fixuid && \
-  printf "user: $USER\ngroup: $GROUP\n" > /etc/fixuid/config.yml
+RUN git clone https://github.com/tmux-plugins/tpm /root/.tmux/plugins/tpm
 
 RUN wget https://get.foxglove.dev/desktop/latest/foxglove-studio-latest-linux-amd64.deb
 RUN apt -o Acquire::AllowInsecureRepositories=true -o Acquire::AllowDowngradeToInsecureRepositories=true update && apt -o APT::Get::AllowUnauthenticated=true install -y ./foxglove-studio-latest-linux-amd64.deb
@@ -64,5 +43,4 @@ RUN apt -o APT::Get::AllowUnauthenticated=true install -y ros-humble-foxglove-br
 # Cleanup. Prevent people accidentally doing git commits from within Docker
 RUN apt purge git -y && apt autoremove -y && apt clean -y && rm -rf /var/lib/apt/lists/*
 
-USER gcs:gcs
-ENTRYPOINT ["fixuid"]
+WORKDIR /root/AirStack/gcs/ros_ws
diff --git a/gcs/docker/gcs-base-docker-compose.yaml b/gcs/docker/gcs-base-docker-compose.yaml
@@ -38,17 +38,17 @@ services:
     tty: true
     volumes:
       # display stuff
-      - $HOME/.Xauthority:/home/gcs/.Xauthority
+      - $HOME/.Xauthority:/root/.Xauthority
       - /tmp/.X11-unix:/tmp/.X11-unix
       # developer stuff
-      - ../../common/.bash_profile:/home/gcs/.bash_profile:rw
-      - .bashrc:/home/gcs/.bashrc:rw
-      - ../../common/.tmux.conf:/home/gcs/.tmux.conf:rw
+      - ../../common/.bash_profile:/root/.bash_profile:rw
+      - .bashrc:/root/.bashrc:rw
+      - ../../common/.tmux.conf:/root/.tmux.conf:rw
       - ../../common/inputrc:/etc/inputrc:rw
-      - ../../.devcontainer/gcs/launch.json:/home/gcs/AirStack/.vscode/launch.json:rw
-      - ../../.devcontainer/gcs/tasks.json:/home/gcs/AirStack/.vscode/tasks.json:rw
-      - ./Foxglove:/home/gcs/.config/Foxglove:rw
+      - ../../.devcontainer/gcs/launch.json:/root/AirStack/.vscode/launch.json:rw
+      - ../../.devcontainer/gcs/tasks.json:/root/AirStack/.vscode/tasks.json:rw
+      - ./Foxglove:/root/.config/Foxglove:rw
       # autonomy stack stuff
-      - ../..:/home/gcs/AirStack
-      - ../../common/ros_packages:/home/gcs/AirStack/gcs/ros_ws/src/common:rw # common ROS packages
-      - ../../common/ros_packages/fastdds.xml:/home/gcs/AirStack/gcs/ros_ws/fastdds.xml:rw # fastdds.xml
+      - ../..:/root/AirStack
+      - ../../common/ros_packages:/root/AirStack/gcs/ros_ws/src/common:rw # common ROS packages
+      - ../../common/ros_packages/fastdds.xml:/root/AirStack/gcs/ros_ws/fastdds.xml:rw # fastdds.xml
diff --git a/gcs/ros_ws/src/gcs_bringup/config/gcs.perspective b/gcs/ros_ws/src/gcs_bringup/config/gcs.perspective
@@ -110,11 +110,11 @@
             "plugin": {
               "keys": {
                 "command_config_filename": {
-                  "repr": "'/home/gcs/AirStack/gcs/ros_ws/install/rqt_gcs/share/rqt_gcs/config/gui_config.yaml'",
+                  "repr": "'/root/AirStack/gcs/ros_ws/install/rqt_gcs/share/rqt_gcs/config/gui_config.yaml'",
                   "type": "repr"
                 },
                 "trajectory_config_filename": {
-                  "repr": "'/home/gcs/AirStack/gcs/ros_ws/install/rqt_gcs/share/rqt_gcs/config/fixed_trajectories.yaml'",
+                  "repr": "'/root/AirStack/gcs/ros_ws/install/rqt_gcs/share/rqt_gcs/config/fixed_trajectories.yaml'",
                   "type": "repr"
                 }
               },

diff --git a/mkdocs.yml b/mkdocs.yml
@@ -90,6 +90,8 @@ nav:
                       - robot/ros_ws/src/autonomy/3_local/b_planners/takeoff_landing_planner/test/README.md
                   - DROAN (Obstacle Avoidance Planner):
                       - robot/ros_ws/src/autonomy/3_local/b_planners/droan_local_planner/README.md
+                  - DROAN GL:
+                      - robot/ros_ws/src/autonomy/3_local/b_planners/droan_gl/README.md
               - Controls:
                   - docs/robot/autonomy/3_local/controls/index.md
                   - robot/ros_ws/src/autonomy/3_local/c_controls/trajectory_controller/README.md

diff --git a/robot/docker/Dockerfile.robot b/robot/docker/Dockerfile.robot
@@ -203,55 +203,12 @@ RUN if [ "$SKIP_MACVO" != "true" ]; then pip uninstall matplotlib -y; fi
 
 
 # TMux config
-RUN git clone https://github.com/tmux-plugins/tpm /home/robot/.tmux/plugins/tpm
-
-WORKDIR /home/robot/AirStack/robot/ros_ws
-
-# Make it so that files created within the container reflect the user's UID/GID so they don't have to change file permissions from root. See https://github.com/boxboat/fixuid
-# need to give access to docker to access container name
-# creates user "robot" with UID 1000, home directory /home/robot, and shell /bin/bash
-# creates group "robot" with GID 1000
-RUN addgroup --gid 1000 robot && \
-  adduser --uid 1000 --ingroup robot --home /home/robot --shell /bin/bash --disabled-password --gecos "" robot && \
-  chown -R robot:robot /home/robot && \
-  usermod -aG sudo robot && \
-  echo "robot ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/robot && \
-  echo "robot:robot" | chpasswd
-
-
-ARG REAL_ROBOT=false
-RUN if [ "$REAL_ROBOT"  = "true" ]; then \
-  # Put commands here that should run for the real robot but not the sim
-  echo "REAL_ROBOT is true"; \
-  apt-get ${UPDATE_FLAGS} update && apt-get ${INSTALL_FLAGS} install -y libimath-dev; \
-  groupadd -g 20 dialout; \
-  usermod -aG dialout robot; \
-  USER=robot && \
-  GROUP=robot && \
-  curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.6.0/fixuid-0.6.0-linux-arm64.tar.gz | tar -C /usr/local/bin -xzf - && \
-  chown root:root /usr/local/bin/fixuid && \
-  chmod 4755 /usr/local/bin/fixuid && \
-  mkdir -p /etc/fixuid && \
-  printf "user: $USER\ngroup: $GROUP\n" > /etc/fixuid/config.yml; \
-else \
-  # Put commands here that should be run for the sim but not the real robot
-  echo "REAL_ROBOT is false"; \
-  USER=robot && \
-  GROUP=robot && \
-  curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.6.0/fixuid-0.6.0-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - && \
-  chown root:root /usr/local/bin/fixuid && \
-  chmod 4755 /usr/local/bin/fixuid && \
-  mkdir -p /etc/fixuid && \
-  printf "user: $USER\ngroup: $GROUP\n" > /etc/fixuid/config.yml; \
-  fi
-
+RUN git clone https://github.com/tmux-plugins/tpm /root/.tmux/plugins/tpm
 
+WORKDIR /root/AirStack/robot/ros_ws
 
 # Cleanup
 RUN apt autoremove -y \
   && apt clean -y \
   && rm -rf /var/lib/apt/lists/*
 
-USER robot:robot
-ENTRYPOINT ["fixuid"]
-
diff --git a/robot/docker/docker-compose.yaml b/robot/docker/docker-compose.yaml
@@ -11,7 +11,6 @@ services:
       file: ./robot-base-docker-compose.yaml
       service: robot_base
     image: &desktop_image ${PROJECT_DOCKER_REGISTRY}/${PROJECT_NAME}:v${DOCKER_IMAGE_TAG}_robot-x86-64
-    user: "${USER_ID:-1000}:${GROUP_ID:-1000}"
     build:
       dockerfile: ./Dockerfile.robot
       args:

diff --git a/robot/docker/robot-base-docker-compose.yaml b/robot/docker/robot-base-docker-compose.yaml
@@ -48,15 +48,15 @@ services:
       - $HOME/.Xauthority:/.Xauthority
       - /tmp/.X11-unix:/tmp/.X11-unix
       # developer stuff
-      - .dev:/home/robot/.dev:rw # developer config
-      - ../../common/.bash_profile:/home/robot/.bash_profile:rw
-      - .bashrc:/home/robot/.bashrc:rw # bash config
+      - .dev:/root/.dev:rw # developer config
+      - ../../common/.bash_profile:/root/.bash_profile:rw
+      - .bashrc:/root/.bashrc:rw # bash config
       - ../../common/inputrc:/etc/inputrc:rw # for using page up/down to search through command history
-      - ../../common/.tmux.conf:/home/robot/.tmux.conf:rw # tmux config
-      - ../../.devcontainer/robot/launch.json:/home/robot/AirStack/.vscode/launch.json:rw
-      - ../../.devcontainer/robot/tasks.json:/home/robot/AirStack/.vscode/tasks.json:rw
+      - ../../common/.tmux.conf:/root/.tmux.conf:rw # tmux config
+      - ../../.devcontainer/robot/launch.json:/root/AirStack/.vscode/launch.json:rw
+      - ../../.devcontainer/robot/tasks.json:/root/AirStack/.vscode/tasks.json:rw
       # autonomy stack stuff
-      - ../..:/home/robot/AirStack
-      - ../../common/ros_packages:/home/robot/AirStack/robot/ros_ws/src/common:rw # common ROS packages
-      - ../../common/ros_packages/fastdds.xml:/home/robot/AirStack/robot/ros_ws/fastdds.xml:rw # fastdds.xml
+      - ../..:/root/AirStack
+      - ../../common/ros_packages:/root/AirStack/robot/ros_ws/src/common:rw # common ROS packages
+      - ../../common/ros_packages/fastdds.xml:/root/AirStack/robot/ros_ws/fastdds.xml:rw # fastdds.xml
 
diff --git a/robot/ros_ws/base_link: b/robot/ros_ws/base_link:
diff --git a/robot/ros_ws/src/autonomy/3_local/b_planners/droan_local_planner/README.md b/robot/ros_ws/src/autonomy/3_local/b_planners/droan_local_planner/README.md
@@ -15,4 +15,4 @@ DROAN local planner takes the global plan, and finds the global plan's closest p
 DROAN trims the global plan to be from that point to the end of the global plan.
 
 Consequently, DROAN currently does NOT use a waypoint manager, and is NOT guaranteed to reach every waypoint on the global plan, especially if the global plan loops back on itself.
-Ideally in the future we will use a proper waypoint manager.
+Ideally in the future we will use a proper waypoint manager.
diff --git a/robot/ros_ws/src/robot_bringup/config/core.perspective b/robot/ros_ws/src/robot_bringup/config/core.perspective
@@ -79,7 +79,7 @@
             "plugin": {
               "keys": {
                 "config_filename": {
-                  "repr": "'/home/robot/AirStack/robot/ros_ws/install/rqt_behavior_tree_command/share/rqt_behavior_tree_command/config/gui_config.yaml'",
+                  "repr": "'/root/AirStack/robot/ros_ws/install/rqt_behavior_tree_command/share/rqt_behavior_tree_command/config/gui_config.yaml'",
                   "type": "repr"
                 }
               },
@@ -114,7 +114,7 @@
                   "type": "repr"
                 },
                 "config_filename": {
-                  "repr": "'/home/robot/AirStack/robot/ros_ws/install/rqt_fixed_trajectory_generator/share/rqt_fixed_trajectory_generator/config/fixed_trajectories.yaml'",
+                  "repr": "'/root/AirStack/robot/ros_ws/install/rqt_fixed_trajectory_generator/share/rqt_fixed_trajectory_generator/config/fixed_trajectories.yaml'",
                   "type": "repr"
                 }
               },

diff --git a/robot/ros_ws/src/robot_bringup/launch/robot.launch.xml b/robot/ros_ws/src/robot_bringup/launch/robot.launch.xml
@@ -39,7 +39,7 @@
 
   <!-- Domain Bridge -->
   <node pkg="domain_bridge" exec="domain_bridge"
-    args="/home/robot/AirStack/robot/ros_ws/src/robot_bringup/params/domain_bridge.yaml"
+    args="/root/AirStack/robot/ros_ws/src/robot_bringup/params/domain_bridge.yaml"
     output="screen" respawn="true" respawn_delay="1" />
 
 </launch>