打通航天仿真与机器人系统，实现软硬件无缝衔接。
Bridging the Basilisk Astrodynamics Framework with ROS 2 for Modular Spacecraft Simulation and Hardware Integration
- 构建Basilisk与ROS 2的轻量通信桥接，双向实时传输数据。
- 在仿真与真实微重力平台中一致部署非线性预测控制，验证效果。
- 支持快速开发、软硬一体测试，适合航天自主系统研发者。
将高保真航天器仿真器与模块化机器人框架集成，仍是自主系统开发中的挑战。本文提出一个轻量级、开源的Basilisk轨道动力学仿真器与机器人操作系统2（ROS 2）之间的通信桥接，实现航天器控制的实时双向数据交换，无需修改Basilisk核心代码，可无缝集成至ROS 2节点。我们以非线性模型预测控制实现领航-跟驰编队飞行场景，在仿真环境与ATMOS平面微重力实验平台中部署相同算法，验证了其一致性。该架构支持快速迭代开发、硬件在环测试，并实现从仿真到硬件的无缝迁移。该桥接提供了一个灵活可扩展的模块化航天器自主系统平台，支持可复现的研究工作流。
原文摘要 · Abstract (English)
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.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。