Developing and testing novel control and motion planning algorithms for aerial vehicles can be a challenging task, with the robotics community relying more than ever on 3D simulation technologies to evaluate the performance of new algorithms in a variety of conditions and environments. In this work, we introduce the Pegasus Simulator, a modular framework implemented as an NVIDIA Isaac Sim extension that enables real-time simulation of multiple multirotor vehicles in photo-realistic environments, while providing out-of-the-box integration with the widely adopted PX4-Autopilot and ROS2 through its modular implementation and intuitive graphical user interface. To demonstrate some of its capabilities, a nonlinear controller was implemented and simulation results for two drones performing aggressive flight maneuvers are presented. Code and documentation for this framework are also provided as supplementary material.

翻译：开发和测试新型飞行器控制及运动规划算法是一项具有挑战性的任务，机器人领域比以往更加依赖三维仿真技术来评估新算法在不同条件和环境下的性能。本文介绍了Pegasus模拟器——一个基于NVIDIA Isaac Sim扩展实现的模块化框架，能够在逼真环境中实时仿真多个多旋翼飞行器，并通过其模块化设计和直观的图形用户界面，实现与广泛采用的PX4-Autopilot和ROS2的即开即用集成。为展示其部分能力，我们实现了一款非线性控制器，并呈现了两架无人机执行激进飞行机动任务的仿真结果。此外，本文还提供了该框架的源代码与文档作为补充材料。