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.

翻译：将高保真航天器模拟器与模块化机器人框架相集成，仍是自主技术发展面临的挑战。本文提出一种轻量级开源通信桥梁，连接Basilisk天文动力学模拟器与机器人操作系统2（ROS 2），实现航天器控制的实时双向数据交换。该桥接方案无需修改Basilisk核心模块，即可无缝对接ROS 2节点。我们通过非线性模型预测控制，在领航-跟随编队飞行场景中验证其功能——该控制方案在仿真环境与ATMOS平面微重力试验台的应用完全一致。该架构支持快速开发、硬件在环测试以及从仿真到硬件的平滑过渡，为模块化航天器自主系统与可复现研究工作流提供了灵活可扩展的平台。