Bridging the Basilisk Astrodynamics Framework with ROS 2 for Modular Spacecraft Simulation and Hardware Integration
This work addresses the problem of enabling rapid development, hardware-in-the-loop testing, and seamless transition from simulation to hardware for researchers and engineers in spacecraft autonomy, though it is incremental as it builds on existing simulators and frameworks.
This paper tackled the challenge of integrating high-fidelity spacecraft simulators with modular robotics frameworks by developing a lightweight, open-source communication bridge between the Basilisk astrodynamics simulator and ROS 2, enabling real-time, bidirectional data exchange for spacecraft control. The result was demonstrated in a leader-follower formation flying scenario using nonlinear model predictive control, deployed identically in both simulation and on the ATMOS planar microgravity testbed.
Integrating high-fidelity spacecraft simulators with modular robotics frameworks remains a challenge for autonomy development. This paper presents a lightweight, open-source communication bridge between the Basilisk astrodynamics simulator and the Robot Operating System 2 (ROS 2), enabling real-time, bidirectional data exchange for spacecraft control. The bridge requires no changes to Basilisk's core and integrates seamlessly with ROS 2 nodes. We demonstrate its use in a leader-follower formation flying scenario using nonlinear model predictive control, deployed identically in both simulation and on the ATMOS planar microgravity testbed. This setup supports rapid development, hardware-in-the-loop testing, and seamless transition from simulation to hardware. The bridge offers a flexible and scalable platform for modular spacecraft autonomy and reproducible research workflows.