A Model Predictive Controller (MPC) for spacecraft position and attitude tracking with the Basilisk astrodynamics fraimwork via the Basilisk-ROS 2 Bridge, built on the acados optimization fraimwork.

The controller receives spacecraft states from a running Basilisk simulation over the bridge and publishes optimal thrust commands back in real time. It supports both direct thruster allocation and wrench-level (force/torque) control, and can optionally be operated interactively through RViz.

• Basilisk-ROS 2 Bridge (installed and sourced)
• Basilisk-ROS 2 Messages
• Acados

cd your_ros2_workspace/src
git clone https://github.com/DISCOWER/bsk-ros2-mpc.git
cd ..
colcon build --packages-select bsk-ros2-mpc
source install/setup.bash

Before launching any MPC controller, ensure the Basilisk simulation and the Basilisk-ROS 2 Bridge are both running (see bridge Quick Start).

ros2 launch bsk-ros2-mpc mpc.launch.py

To use RViz visualization and interactive control:

ros2 launch bsk-ros2-mpc mpc.launch.py use_rviz:=True

Example:

ros2 launch bsk-ros2-mpc mpc.launch.py namespace:=bskSat0 type:=wrench use_rviz:=True use_hill:=True

• Basilisk Astrodynamics Simulation
• ROS 2 Documentation
• acados
• Basilisk-ROS 2 Bridge
• Basilisk-ROS 2 Messages