Bridging the Basilisk Astrodynamics Framework with ROS 2 for Modular Spacecraft Simulation and Hardware Integration

TL;DR

The paper presents a lightweight, open-source Basilisk-ROS2 bridge that enables bidirectional, real-time data exchange between a high-fidelity orbital dynamics simulator and ROS2 autonomy stacks without modifying Basilisk's core. It demonstrates the bridge through a leader–follower formation scenario controlled by NMPC, validated in both Basilisk simulation and the ATMOS hardware testbed, with identical control pipelines across platforms. The approach decouples the control stack from the simulation engine, facilitating rapid simulation-to-hardware transitions and reproducible HITL workflows, supported by scalable message routing and time synchronization via ZMQ and /clock. Open-source release and documented scalability position the bridge as a practical foundation for modular, multi-agent space autonomy and experimentation across SITL/HITL environments.

Abstract

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.

Figures (5)

• Figure 1: Functional overview of the Basilisk – ROS2 bridge. The bridge interfaces with the ROS2 network and exchanges data with a Basilisk handler module, which connects messages to internal simulation modules.
• Figure 2: Hill frame $\mathcal{H}$ (red), ECI frame $\mathcal{N}$ (black) and body frame $\mathcal{B}$ (green) with respect to a leader's orbit (blue) thomas-SFF-Thesis.
• Figure 3: Three ATMOS free-flyer platforms. Each unit uses air bearings for frictionless 2D motion and is independently controlled for the spacecraft formation experiments.
• Figure 4: Basilisk simulation of the leader-follower scenario, visualized in Vizard.
• Figure 5: Comparison of position and attitude tracking, as well as control behavior, between Basilisk simulation and ATMOS hardware in the leader–follower formation flying scenario.