This paper presents a ROS 2-based simulator framework for tethered UAV-UGV marsupial systems in Gazebo. The framework models interactions among a UAV, a UGV, and a winch with dynamically adjustable length and slack of the tether. It supports both manual control and automated trajectory tracking, with the winch adjusting the length of the tether based on the relative distance between the robots. The simulator's performance is demonstrated through experiments, including comparisons with real-world data, showcasing its capability to simulate tethered robotic systems. The framework offers a flexible tool for researchers exploring tethered robot dynamics. The source code of the simulator is publicly available for the research community.

翻译：本文提出了一种基于ROS 2的、用于Gazebo中系留有袋类无人机-无人车系统的仿真框架。该框架对无人机、无人车以及一个具有动态可调长度与松弛度的系留绞盘之间的相互作用进行建模。它支持手动控制和自动轨迹跟踪，绞盘可根据机器人之间的相对距离调整系留长度。通过实验（包括与真实世界数据的对比）展示了该仿真器的性能，证明了其模拟系留机器人系统的能力。该框架为探索系留机器人动力学的研究人员提供了一个灵活的工具。仿真器的源代码已向研究社区公开。