feat(simulation): qualify D-only stock rover smoke
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# Lab 006: SIM S0 worker bootstrap and stock-rover smoke
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Date: 2026-07-24 (Europe/Moscow).
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## Scope
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The reviewed Windows 11 AI worker received a dedicated Docker-free
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`MissionCore-Sim` WSL2 Ubuntu 24.04 distribution physically stored at
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`D:\NDC_MISSIONCORE\simulation\wsl\MissionCore-Sim`. Source, build, cache,
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runtime, artifacts and datasets are all under the same D-only root. Existing
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Docker Desktop co-tenants were inventoried but not stopped, reconfigured or
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used.
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This lab grants no real or simulated actuator authority. Every smoke run kept
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`actuator_authority=false`; it observed the stock rover while disarmed.
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## Redacted worker inventory
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- Windows 11 Pro, build 26200;
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- WSL2 kernel `6.18.33.1-microsoft-standard-WSL2`;
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- Ubuntu 24.04.4 LTS, x86_64;
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- 13th Gen Intel Core i9-13900KF, 32 WSL-visible logical CPUs;
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- 50,427,760,640 WSL-visible RAM bytes and 12,884,901,888 swap bytes;
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- NVIDIA GeForce RTX 4090, driver 610.47, 24,564 MiB VRAM;
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- D capacity 2,000,381,014,016 bytes;
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- D free after bootstrap and builds: 392,758,685,696 bytes.
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The remaining D capacity is above the 300 GiB S0 start threshold and 200 GiB
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stop threshold. This does not waive continuous disk monitoring.
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## Installed candidate generation
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- ROS 2 Jazzy `ros-base=0.11.0-1noble.20260616.084325`;
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- `ros-gz=1.0.22-1noble.20260616.074726`;
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- Gazebo Harmonic `1.0.0-1~noble`, Gazebo Sim `8.14.0-1~noble`,
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SDFormat `14.9.0-1~noble`;
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- PX4 Autopilot v1.17.0 commit
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`d6f12ad1c4f70ad3230afd7d86e971421e02fef4`;
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- `px4_msgs` v1.17.0 commit
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`86d8239e962f6939e05c3737784f60c02fa884db`;
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- PX4 Gazebo models commit
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`b6127f4ec20de867e215fb5f78ae88b80f371909`;
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- Micro XRCE-DDS Agent v2.4.3 commit
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`73622810d984349b80bbac0ef55fc0b694d62222`;
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- Nav2 `navigation2=1.3.12-1noble.20260615.181551` and
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`nav2-bringup=1.3.12-1noble.20260616.082701`.
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PX4 SITL and `px4_msgs` were built successfully from the pinned D-only source.
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The Micro XRCE-DDS Agent was built from source and installed under the D-only
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runtime root. Nav2 is installed but has not yet passed an S2 navigation case.
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## Observed smoke result
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Two consecutive canonical runs and one preliminary resource run passed:
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- `20260724T134400Z-stock-rover`;
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- `20260724T134600Z-stock-rover-repeat`;
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- `20260724T135000Z-stock-rover-baseline`.
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The final smoke-script generation also passed as
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`20260724T135800Z-stock-rover-final` and added a runtime listener inventory plus
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the point resource snapshot.
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Each run started PX4 v1.17.0 with Gazebo world `rover` and model
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`rover_ackermann_0`, established a Micro XRCE-DDS session, observed
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`/fmu/out/vehicle_status_v1`, observed Gazebo `/clock`, requested PX4 shutdown
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and found no owned runtime residue. The captured vehicle state was disarmed,
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`failsafe=false`, with pre-flight checks passing.
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Each provider set ran inside a new Linux network namespace containing only
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`127.0.0.1` and `::1`. The Agent's UDP `0.0.0.0:8888` bind was therefore
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effective only inside that loopback boundary. No PX4, Gazebo or Agent service
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was exposed to the LAN.
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The two canonical artifact directories are 68 KiB each. The preliminary
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resource run completed in 38.75 seconds. One point sample observed approximately
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202 MiB RSS for headless Gazebo, 19 MiB for PX4 and 17 MiB for the Agent. The
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worker GPU was already occupied by unrelated co-tenants; no S0 GPU allocation
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was attributable in this headless run. These point observations are not the
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accepted 1× or 2× resource baselines.
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## Diagnostics retained
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Earlier bootstrap attempts remain outside Git under the D-only artifact root:
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- one check raced the asynchronous DDS connection even though the session
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subsequently established;
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- one used an unsupported ROS 2 Jazzy long option;
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- one used ROS domain 42 while PX4 v1.17.0 published on domain 0.
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The smoke contract now waits for the Agent session plus the PX4
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`vehicle_status_v1` writer, uses Jazzy `topic list -t`, and relies on the
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loopback-only namespace to isolate domain 0.
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An initial malformed interactive log repeatedly captured PX4 terminal repaint
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output and reached approximately 1.1 GiB. That generated diagnostic artifact
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was removed, then the case was rerun non-interactively; the valid standalone
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PX4 log was approximately 8 KiB.
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## Target doctor
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The exact candidate profile was executed through the read-only doctor inside
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`MissionCore-Sim`. Profile SHA-256:
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`70bf0df44c85dd57eb3cedb98a474a46ba498c6ffc60ce0d8a06829e28587df1`.
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Target identity, authority, clock, port/process registries, all seven D-only
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mutable roots, the disk threshold and all eight required executables passed.
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Version acceptance and the nine-item digest-bound evidence set remain
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incomplete, so the doctor correctly returned `INCOMPLETE`.
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## Verdict
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`INCOMPLETE`.
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Worker compatibility, D-only placement, exact candidate pins, PX4 build,
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stock-rover launch, DDS telemetry, authoritative clock observation and repeated
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clean lifecycle are factually proven. S0 still requires:
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- pause/resume and deterministic single-step evidence;
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- 1× speed/real-time-factor acceptance;
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- isolated 2× resource/coexistence baseline;
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- a complete digest-bound evidence manifest;
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- final `GO`, `INCOMPLETE` or `BLOCKED` decision.
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This lab does not accept Nav2 behavior, navigation safety, real-time guarantees,
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or real actuator control.
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