We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some defense mechanisms. However, due to escalating regulations imposed by aviation authorities on security research on real UAVs, and the substantial costs associated with hardware test-bed configurations, there arises a necessity for a simulator capable of substituting for hardware experiments, and/or narrowing down their scope to the strictly necessary. The study of different attack mechanisms requires specific features in a simulator. We propose a simulation framework based on ROS2, leveraging some of its key advantages, including modularity, replicability, customization, and the utilization of open-source tools such as Gazebo. Our framework has a built-in motion planner, controller, communication models and attack models. We share examples of research use cases that our framework can enable, demonstrating its utility.

翻译：本文提出一种新型无人驾驶飞行器（UAV）仿真器，专门用于测试网络物理安全攻击与防御。近期对无人机安全性的研究揭示了多种攻击面及部分防御机制。然而，由于航空监管机构对真实无人机安全研究的管制日益严格，且硬件测试平台配置成本高昂，亟需一种能够替代硬件实验或将其范围缩小至严格必需环节的仿真器。研究不同攻击机制要求仿真器具备特定功能。我们提出一种基于ROS2的仿真框架，充分利用其模块化、可复现性、可定制化等关键优势，并集成Gazebo等开源工具。该框架内置运动规划器、控制器、通信模型与攻击模型。我们分享了本框架可支持的研究用例范例，以证明其实用价值。