{"ID":2830806,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.09833","arxiv_id":"2512.09833","title":"Bridging the Basilisk Astrodynamics Framework with ROS 2 for Modular Spacecraft Simulation and Hardware Integration","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.","short_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...","url_abs":"https://arxiv.org/abs/2512.09833","url_pdf":"https://arxiv.org/pdf/2512.09833v2","authors":"[\"Elias Krantz\",\"Ngai Nam Chan\",\"Gunnar Tibert\",\"Huina Mao\",\"Christer Fuglesang\"]","published":"2025-12-10T17:13:24Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}