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

TL;DR

This paper introduces an open-source communication bridge linking the Basilisk spacecraft simulator with ROS 2, facilitating real-time data exchange for modular spacecraft control and testing.

Contribution

A lightweight, seamless integration method between Basilisk and ROS 2 that requires no core modifications, enabling real-time control and hardware-in-the-loop testing.

Findings

Successful demonstration in a leader-follower formation flying scenario

Supports rapid development and hardware-in-the-loop testing

Enables seamless transition from simulation to hardware

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.