From a22e932edea824c4bcdcb82c1695519c692fd7bd Mon Sep 17 00:00:00 2001
From: Dylan <dylan1120long@gmail.com>
Date: Thu, 9 Apr 2026 13:49:53 -0400
Subject: [PATCH 1/7] docs: define generic external simulator bridge contract

---
 src/external_sim_bridge/doc/design_note.md | 206 +++++++++++++++++++++
 1 file changed, 206 insertions(+)
 create mode 100644 src/external_sim_bridge/doc/design_note.md

diff --git a/src/external_sim_bridge/doc/design_note.md b/src/external_sim_bridge/doc/design_note.md
new file mode 100644
index 0000000..5b25ef4
--- /dev/null
+++ b/src/external_sim_bridge/doc/design_note.md
@@ -0,0 +1,206 @@
+# External Simulator Bridge Design Note
+
+## Purpose
+
+This note defines the v1 contract for ASTRO's external simulator bridge under GH issue `#24`.
+The goal is to validate the manuscript branch's external deployment pattern against Basilisk
+without changing ASTRO's current ROS-facing control boundary.
+
+For v1, the bridge replaces `env_node` in the closed loop while leaving
+`gnc_node` unchanged.
+
+## Current `main` Baseline
+
+The implementation baseline is the current `main` branch package at
+`src/DistributedSatelliteSim`.
+
+The behavior to preserve is defined primarily by:
+
+- `src/DistributedSatelliteSim/include/distributed_satellite_sim/env_node.hpp`
+- `src/DistributedSatelliteSim/include/distributed_satellite_sim/gnc_node.hpp`
+- `src/DistributedSatelliteSim/launch/sim.launch.py`
+- `src/DistributedSatelliteSim/test/test_dlqr_reference_launch.py`
+
+Key baseline facts:
+
+- `EnvNode` advances on a `100 ms` wall timer.
+- `EnvNode` publishes `env_data` from `timer_callback()`.
+- `EnvNode` stores the latest thrust command in `u_now_` when `actuation_cmd` is called.
+- `EnvNode` does not use service-call-driven lock-step stepping.
+- `GncNode` computes control from `env_data` and sends thrust using `async_send_request()`.
+- `EnvNode` defaults `max_steps` to `91` and `min_subscribers` to `0`.
+- `sim.launch.py` currently overrides `min_subscribers` to `1`.
+- `test_dlqr_reference_launch.py` overrides `min_subscribers` to `2` so the recorder and
+  `gnc_node` are both present before the run starts.
+
+## V1 ROS-Facing Contract
+
+The bridge must preserve the existing ROS contract for the current DLQR path.
+
+### Telemetry boundary
+
+- Topic name: `env_data`
+- Message type: `std_msgs/msg/Float64MultiArray`
+- Required ordering: `[x, y, z, vx, vy, vz]`
+- Required length: exactly `6`
+
+### Control boundary
+
+- Service name: `actuation_cmd`
+- Service type: `distributed_satellite_sim/srv/ActuationCmd`
+- Request shape: `float64[3] thrust`
+- Response shape: `bool success`
+
+### Timing and lifecycle contract
+
+- The bridge runs a `100 ms` wall timer, matching `EnvNode`.
+- The bridge uses latest-command-wins semantics, matching `EnvNode`.
+- The service callback stores the newest `thrust[3]` for use on the next timer tick.
+- The timer tick advances the backend and publishes the next `env_data` sample.
+- The bridge respects `min_subscribers` before the first advance or publish.
+- The bridge defaults `max_steps` to `91` and `min_subscribers` to `0` to mirror
+  `EnvNode` exactly. Launch files may override these defaults for test or operator needs.
+
+## Role Split
+
+The bridge package should be split into simulator-agnostic bridge logic and simulator-specific
+backend drivers.
+
+### Simulator-agnostic bridge logic
+
+The generic bridge node owns:
+
+- ROS publisher creation for `env_data`
+- ROS service creation for `actuation_cmd`
+- parameter parsing
+- timer scheduling
+- startup gating through `min_subscribers`
+- step counting and `max_steps` handling
+- dimension validation for published state and received control vectors
+- error handling and ROS logging
+
+This logic should not depend on Basilisk-specific types, paths, coordinate conventions,
+or scenario setup.
+
+### Simulator-specific backend drivers
+
+A backend driver owns:
+
+- simulator import and initialization
+- simulator-native state reads
+- translation from simulator-native telemetry into ASTRO's six-state ROS vector
+- translation from ASTRO's `thrust[3]` command into simulator-native actuation inputs
+- simulator-native timing or stepping calls
+- simulator-specific runtime requirements and provenance
+
+To avoid overloading terms from the manuscript diagrams, the whole ROS-facing component is the
+"bridge" or "adapter." Basilisk-specific code should be called a "backend" or
+"backend driver."
+
+## Python and C++ Interop
+
+The bridge is intended to be implemented in Python using `rclpy`, while `gnc_node` remains in
+C++ using `rclcpp`.
+
+This is an intentional design choice:
+
+- Basilisk integration is expected to be easier from Python.
+- ROS 2 topic and service interoperability is language-agnostic at the DDS boundary.
+- `gnc_node` can remain unchanged and continue using the existing `ActuationCmd` service.
+
+The `external_sim_bridge` package should declare a direct dependency on
+`distributed_satellite_sim` so it can import and serve `ActuationCmd`.
+
+## Deterministic Regression Backend
+
+Before Basilisk is introduced, the bridge should ship with a deterministic linear-dynamics
+backend that mirrors the current `EnvNode` implementation exactly.
+
+That backend should use:
+
+- the same initial state
+- the same `Ad` matrix
+- the same `Bd` matrix
+- the same `100 ms` timer cadence at the bridge-node layer
+- the same latest-command-wins update semantics
+
+This backend is not a toy stub. It is the bridge-core regression target that allows:
+
+- closed-loop testing with the existing `gnc_node`
+- comparison against the existing DLQR reference fixture in
+  `src/DistributedSatelliteSim/test/data/dlqr_reference_trajectory.csv`
+- isolation of bridge-architecture bugs before simulator-specific Basilisk work begins
+
+## Failure Handling
+
+Failure behavior should distinguish between service-path validation problems and runtime
+backend failures.
+
+### Service-path validation
+
+If the bridge receives malformed control input or the backend rejects an actuation command
+during service-path validation:
+
+- the bridge should log a clear error
+- the bridge should return `success = false`
+
+### Timer-path runtime failure
+
+If the backend throws or fails while advancing on the timer tick:
+
+- the bridge should log the failure clearly
+- the failure should be treated as a backend/runtime error, not as a service failure
+- the timer should stop so the node fails in a defined and visible way
+
+## Manuscript Alignment
+
+Issue `#24` validates the manuscript branch's external deployment pattern, but v1 does not
+implement the richer ROS-side decomposition shown in the manuscript's external architecture
+figure.
+
+For v1:
+
+- the bridge validates the external deployment mode
+- the ROS-facing contract stays the same as the current `env_node` to `gnc_node` boundary
+- the existing monolithic `gnc_node` remains intact
+
+This keeps `#24` separate from issue `#6`, which is the broader controller and interface
+generalization track.
+
+## Correction to Presentation Wording
+
+Some presentation text describes `gnc_node` as if it "serves" `actuation_cmd`.
+That is not how the code behaves on `main`.
+
+The correct client/server roles are:
+
+- `gnc_node` is the `actuation_cmd` client
+- `env_node`, and later the bridge, is the `actuation_cmd` server
+
+## Explicit Non-Goals for `#24`
+
+The following are out of scope for v1 bridge validation:
+
+- changing `env_data` or `ActuationCmd` schemas
+- introducing a generalized telemetry message format
+- implementing the manuscript's full Sensor/Nav/Guidance/Control decomposition
+- universal controller selection or interface redesign under issue `#6`
+- circular-buffer or operator tooling work under issue `#25`
+- showcase or presentation packaging work under issue `#26`
+
+If Basilisk reveals that the current ROS boundary is too narrow, the bridge work should record
+that limitation and open follow-on interface issues rather than widening issue `#24`.
+
+## Basilisk Assumptions Template
+
+The Basilisk backend implementation should record the following in code comments and user-facing
+documentation:
+
+- Basilisk version or source provenance
+- scenario name and entrypoint used for validation
+- exact telemetry fields used to build `[x, y, z, vx, vy, vz]`
+- frame and axis conventions assumed during mapping
+- timing model used between bridge timer ticks and Basilisk stepping
+- actuation interface used for translational thrust
+- additional runtime dependencies or environment setup requirements
+- known gaps, approximations, or validation blockers

From 61b552b12411595fcc063126823eb26b17ec2c63 Mon Sep 17 00:00:00 2001
From: Dylan <dylan1120long@gmail.com>
Date: Thu, 9 Apr 2026 14:13:23 -0400
Subject: [PATCH 2/7] feat: scaffold external_sim_bridge package

---
 .../external_sim_bridge/__init__.py           |   1 +
 .../__pycache__/__init__.cpython-314.pyc      | Bin 0 -> 203 bytes
 .../__pycache__/bridge_node.cpython-314.pyc   | Bin 0 -> 8071 bytes
 .../__pycache__/config.cpython-314.pyc        | Bin 0 -> 2191 bytes
 .../__pycache__/main.cpython-314.pyc          | Bin 0 -> 748 bytes
 .../external_sim_bridge/backends/__init__.py  |  13 ++
 .../__pycache__/__init__.cpython-314.pyc      | Bin 0 -> 939 bytes
 .../backends/__pycache__/base.cpython-314.pyc | Bin 0 -> 2336 bytes
 .../__pycache__/fake_backend.cpython-314.pyc  | Bin 0 -> 3770 bytes
 .../external_sim_bridge/backends/base.py      |  23 +++
 .../backends/fake_backend.py                  |  57 +++++++
 .../external_sim_bridge/bridge_node.py        | 147 ++++++++++++++++++
 .../external_sim_bridge/config.py             |  30 ++++
 .../external_sim_bridge/main.py               |  11 ++
 src/external_sim_bridge/package.xml           |  27 ++++
 .../resource/external_sim_bridge              |   1 +
 src/external_sim_bridge/setup.cfg             |   5 +
 src/external_sim_bridge/setup.py              |  28 ++++
 18 files changed, 343 insertions(+)
 create mode 100644 src/external_sim_bridge/external_sim_bridge/__init__.py
 create mode 100644 src/external_sim_bridge/external_sim_bridge/__pycache__/__init__.cpython-314.pyc
 create mode 100644 src/external_sim_bridge/external_sim_bridge/__pycache__/bridge_node.cpython-314.pyc
 create mode 100644 src/external_sim_bridge/external_sim_bridge/__pycache__/config.cpython-314.pyc
 create mode 100644 src/external_sim_bridge/external_sim_bridge/__pycache__/main.cpython-314.pyc
 create mode 100644 src/external_sim_bridge/external_sim_bridge/backends/__init__.py
 create mode 100644 src/external_sim_bridge/external_sim_bridge/backends/__pycache__/__init__.cpython-314.pyc
 create mode 100644 src/external_sim_bridge/external_sim_bridge/backends/__pycache__/base.cpython-314.pyc
 create mode 100644 src/external_sim_bridge/external_sim_bridge/backends/__pycache__/fake_backend.cpython-314.pyc
 create mode 100644 src/external_sim_bridge/external_sim_bridge/backends/base.py
 create mode 100644 src/external_sim_bridge/external_sim_bridge/backends/fake_backend.py
 create mode 100644 src/external_sim_bridge/external_sim_bridge/bridge_node.py
 create mode 100644 src/external_sim_bridge/external_sim_bridge/config.py
 create mode 100644 src/external_sim_bridge/external_sim_bridge/main.py
 create mode 100644 src/external_sim_bridge/package.xml
 create mode 100644 src/external_sim_bridge/resource/external_sim_bridge
 create mode 100644 src/external_sim_bridge/setup.cfg
 create mode 100644 src/external_sim_bridge/setup.py

diff --git a/src/external_sim_bridge/external_sim_bridge/__init__.py b/src/external_sim_bridge/external_sim_bridge/__init__.py
new file mode 100644
index 0000000..a6157ab
--- /dev/null
+++ b/src/external_sim_bridge/external_sim_bridge/__init__.py
@@ -0,0 +1 @@
+"""External simulator bridge package."""
diff --git a/src/external_sim_bridge/external_sim_bridge/__pycache__/__init__.cpython-314.pyc b/src/external_sim_bridge/external_sim_bridge/__pycache__/__init__.cpython-314.pyc
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new file mode 100644
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diff --git a/src/external_sim_bridge/external_sim_bridge/backends/__init__.py b/src/external_sim_bridge/external_sim_bridge/backends/__init__.py
new file mode 100644
index 0000000..46be163
--- /dev/null
+++ b/src/external_sim_bridge/external_sim_bridge/backends/__init__.py
@@ -0,0 +1,13 @@
+from external_sim_bridge.backends.base import ExternalSimBackend
+from external_sim_bridge.backends.fake_backend import FakeBackend
+
+
+def create_backend(backend_type: str) -> ExternalSimBackend:
+    normalized_backend_type = backend_type.strip().lower()
+
+    if normalized_backend_type == 'fake':
+        return FakeBackend()
+
+    raise ValueError(
+        f"Unsupported backend_type '{backend_type}'. Available backends: ['fake']"
+    )
diff --git a/src/external_sim_bridge/external_sim_bridge/backends/__pycache__/__init__.cpython-314.pyc b/src/external_sim_bridge/external_sim_bridge/backends/__pycache__/__init__.cpython-314.pyc
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diff --git a/src/external_sim_bridge/external_sim_bridge/backends/base.py b/src/external_sim_bridge/external_sim_bridge/backends/base.py
new file mode 100644
index 0000000..e272659
--- /dev/null
+++ b/src/external_sim_bridge/external_sim_bridge/backends/base.py
@@ -0,0 +1,23 @@
+from __future__ import annotations
+
+from typing import Protocol, Sequence
+
+
+class BackendValidationError(ValueError):
+    """Raised when backend-facing state or control validation fails."""
+
+
+class ExternalSimBackend(Protocol):
+    """Simulator-specific backend contract used by the generic bridge node."""
+
+    def initialize(self) -> None:
+        """Initialize any simulator-side state before the bridge starts."""
+
+    def validate_control(self, control: Sequence[float]) -> None:
+        """Validate a control vector before the bridge stores it."""
+
+    def apply_control(self, control: Sequence[float]) -> None:
+        """Apply the latest validated control command before advancing."""
+
+    def advance(self) -> Sequence[float]:
+        """Advance the backend once and return `[x, y, z, vx, vy, vz]`."""
diff --git a/src/external_sim_bridge/external_sim_bridge/backends/fake_backend.py b/src/external_sim_bridge/external_sim_bridge/backends/fake_backend.py
new file mode 100644
index 0000000..ea3acd7
--- /dev/null
+++ b/src/external_sim_bridge/external_sim_bridge/backends/fake_backend.py
@@ -0,0 +1,57 @@
+from __future__ import annotations
+
+from typing import Sequence
+
+import numpy as np
+
+from external_sim_bridge.backends.base import BackendValidationError
+
+
+class FakeBackend:
+    """Deterministic linear backend that mirrors the current env-node dynamics."""
+
+    def __init__(self) -> None:
+        self._state = np.array(
+            [20.0, 20.0, 20.0, 0.00930458, -0.0467472, 0.00798343],
+            dtype=float,
+        )
+        self._control = np.zeros(3, dtype=float)
+        self._ad = np.array(
+            [
+                [1.25645279151274, 0.0, 0.0, 349.682205848334, 147.7805051, 0.0],
+                [-0.0716204647063059, 1.0, 0.0, -147.7805051, 318.728823393334, 0.0],
+                [0.0, 0.0, 0.914515736162421, 0.0, 0.0, 349.682205848334],
+                [0.0014040831838806, 0.0, 0.0, 0.914515736162421, 0.809100657054006, 0.0],
+                [-0.00059338484671504, 0.0, 0.0, -0.809100657054006, 0.658062944649682, 0.0],
+                [0.0, 0.0, -0.000468027727960198, 0.0, 0.0, 0.914515736162421],
+            ],
+            dtype=float,
+        )
+        self._bd = np.array(
+            [
+                [63868.7072544296, 17836.8364281426, 0.0],
+                [-17836.8364281426, 61074.8290177183, 0.0],
+                [0.0, 0.0, 63868.7072544296],
+                [349.682205848334, 147.7805051, 0.0],
+                [-147.7805051, 318.728823393334, 0.0],
+                [0.0, 0.0, 349.682205848334],
+            ],
+            dtype=float,
+        )
+
+    def initialize(self) -> None:
+        return None
+
+    def validate_control(self, control: Sequence[float]) -> None:
+        if len(control) != 3:
+            raise BackendValidationError(
+                f'Fake backend expected a 3-element control vector, received {len(control)}'
+            )
+
+    def apply_control(self, control: Sequence[float]) -> None:
+        self.validate_control(control)
+        self._control = np.asarray(control, dtype=float)
+
+    def advance(self) -> list[float]:
+        self._state = self._ad @ self._state + self._bd @ self._control
+        return self._state.astype(float).tolist()
diff --git a/src/external_sim_bridge/external_sim_bridge/bridge_node.py b/src/external_sim_bridge/external_sim_bridge/bridge_node.py
new file mode 100644
index 0000000..c6f7d6e
--- /dev/null
+++ b/src/external_sim_bridge/external_sim_bridge/bridge_node.py
@@ -0,0 +1,147 @@
+from __future__ import annotations
+
+import math
+from typing import Sequence
+
+from distributed_satellite_sim.srv import ActuationCmd
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import Float64MultiArray
+
+from external_sim_bridge.backends import create_backend
+from external_sim_bridge.backends.base import BackendValidationError, ExternalSimBackend
+from external_sim_bridge.config import BridgeConfig, load_bridge_config
+
+
+class ExternalSimBridgeNode(Node):
+    def __init__(self) -> None:
+        super().__init__('external_sim_bridge')
+
+        try:
+            self._config = load_bridge_config(self)
+            self._backend = self._create_backend(self._config)
+        except Exception as error:
+            self.get_logger().error(f'Bridge startup failed: {error}')
+            raise
+
+        self._latest_command = [0.0, 0.0, 0.0]
+        self._step = 0
+        self._sim_started = False
+        self._runtime_failure: Exception | None = None
+
+        self._state_pub = self.create_publisher(Float64MultiArray, 'env_data', 10)
+        self._cmd_srv = self.create_service(
+            ActuationCmd,
+            'actuation_cmd',
+            self._handle_actuation_command,
+        )
+        self._timer = self.create_timer(
+            self._config.timer_period_sec,
+            self._handle_timer_tick,
+        )
+
+        self.get_logger().info(
+            'External simulator bridge started '
+            f'(backend_type={self._config.backend_type}, max_steps={self._config.max_steps}, '
+            f'min_subscribers={self._config.min_subscribers})'
+        )
+
+    def _create_backend(self, config: BridgeConfig) -> ExternalSimBackend:
+        backend = create_backend(config.backend_type)
+        backend.initialize()
+        return backend
+
+    def _handle_actuation_command(
+        self,
+        request: ActuationCmd.Request,
+        response: ActuationCmd.Response,
+    ) -> ActuationCmd.Response:
+        try:
+            control = self._validate_vector(
+                values=request.thrust,
+                expected_length=3,
+                vector_name='control',
+            )
+            self._backend.validate_control(control)
+        except (BackendValidationError, ValueError) as error:
+            self.get_logger().error(f'Invalid actuation command: {error}')
+            response.success = False
+            return response
+
+        self._latest_command = control
+        response.success = True
+        self.get_logger().info(
+            'actuation_cmd received: u = [%.6e, %.6e, %.6e]'
+            % tuple(self._latest_command)
+        )
+        return response
+
+    def _handle_timer_tick(self) -> None:
+        if not self._sim_started:
+            if self._state_pub.get_subscription_count() < self._config.min_subscribers:
+                return
+            self._sim_started = True
+
+        if self._config.max_steps > 0 and self._step >= self._config.max_steps:
+            self._timer.cancel()
+            self.get_logger().info(f'Simulation complete after {self._step} steps')
+            return
+
+        try:
+            self._backend.apply_control(self._latest_command)
+            state = self._validate_vector(
+                values=self._backend.advance(),
+                expected_length=6,
+                vector_name='state',
+            )
+        except Exception as error:
+            self.get_logger().error(f'Backend runtime failure on step {self._step}: {error}')
+            self._timer.cancel()
+            self._runtime_failure = RuntimeError(
+                f'Backend runtime failure on step {self._step}: {error}'
+            )
+            rclpy.shutdown()
+            return
+
+        self._state_pub.publish(Float64MultiArray(data=state))
+        self.get_logger().info(
+            'step %d: x = [%.6f, %.6f, %.6f, %.6f, %.6f, %.6f]'
+            % (self._step, *state)
+        )
+        self._step += 1
+
+    def _validate_vector(
+        self,
+        values: Sequence[float],
+        expected_length: int,
+        vector_name: str,
+    ) -> list[float]:
+        vector = list(values)
+        if len(vector) != expected_length:
+            raise ValueError(
+                f'{vector_name} vector must have length {expected_length}, received {len(vector)}'
+            )
+
+        validated = []
+        for index, value in enumerate(vector):
+            numeric_value = float(value)
+            if not math.isfinite(numeric_value):
+                raise ValueError(
+                    f'{vector_name}[{index}] must be finite, received {numeric_value!r}'
+                )
+            validated.append(numeric_value)
+
+        return validated
+
+
+def spin_bridge() -> None:
+    bridge = ExternalSimBridgeNode()
+    runtime_failure = None
+    try:
+        rclpy.spin(bridge)
+    finally:
+        runtime_failure = bridge._runtime_failure
+        bridge.destroy_node()
+
+    if runtime_failure is not None:
+        raise runtime_failure
diff --git a/src/external_sim_bridge/external_sim_bridge/config.py b/src/external_sim_bridge/external_sim_bridge/config.py
new file mode 100644
index 0000000..fe4ac6d
--- /dev/null
+++ b/src/external_sim_bridge/external_sim_bridge/config.py
@@ -0,0 +1,30 @@
+from dataclasses import dataclass
+
+from rclpy.node import Node
+
+
+@dataclass(frozen=True)
+class BridgeConfig:
+    backend_type: str
+    max_steps: int
+    min_subscribers: int
+    timer_period_sec: float = 0.1
+
+
+def load_bridge_config(node: Node) -> BridgeConfig:
+    node.declare_parameter('backend_type', 'fake')
+    node.declare_parameter('max_steps', 91)
+    node.declare_parameter('min_subscribers', 0)
+
+    config = BridgeConfig(
+        backend_type=node.get_parameter('backend_type').get_parameter_value().string_value,
+        max_steps=node.get_parameter('max_steps').get_parameter_value().integer_value,
+        min_subscribers=node.get_parameter('min_subscribers').get_parameter_value().integer_value,
+    )
+
+    if config.max_steps < 0:
+        raise ValueError('max_steps must be greater than or equal to 0')
+    if config.min_subscribers < 0:
+        raise ValueError('min_subscribers must be greater than or equal to 0')
+
+    return config
diff --git a/src/external_sim_bridge/external_sim_bridge/main.py b/src/external_sim_bridge/external_sim_bridge/main.py
new file mode 100644
index 0000000..f17a729
--- /dev/null
+++ b/src/external_sim_bridge/external_sim_bridge/main.py
@@ -0,0 +1,11 @@
+import rclpy
+
+from external_sim_bridge.bridge_node import spin_bridge
+
+
+def main(args=None) -> None:
+    rclpy.init(args=args)
+    try:
+        spin_bridge()
+    finally:
+        rclpy.shutdown()
diff --git a/src/external_sim_bridge/package.xml b/src/external_sim_bridge/package.xml
new file mode 100644
index 0000000..89c6438
--- /dev/null
+++ b/src/external_sim_bridge/package.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>external_sim_bridge</name>
+  <version>0.1.0</version>
+  <description>
+    Generic ROS 2 bridge package for external simulator validation.
+  </description>
+  <maintainer email="dylan.long@ufl.edu">Dylan Long</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <depend>distributed_satellite_sim</depend>
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <exec_depend>python3-numpy</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/src/external_sim_bridge/resource/external_sim_bridge b/src/external_sim_bridge/resource/external_sim_bridge
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/src/external_sim_bridge/resource/external_sim_bridge
@@ -0,0 +1 @@
+
diff --git a/src/external_sim_bridge/setup.cfg b/src/external_sim_bridge/setup.cfg
new file mode 100644
index 0000000..be7157f
--- /dev/null
+++ b/src/external_sim_bridge/setup.cfg
@@ -0,0 +1,5 @@
+[develop]
+script_dir=$base/lib/external_sim_bridge
+
+[install]
+install_scripts=$base/lib/external_sim_bridge
diff --git a/src/external_sim_bridge/setup.py b/src/external_sim_bridge/setup.py
new file mode 100644
index 0000000..3fd1bbe
--- /dev/null
+++ b/src/external_sim_bridge/setup.py
@@ -0,0 +1,28 @@
+from setuptools import find_packages, setup
+
+
+package_name = 'external_sim_bridge'
+
+
+setup(
+    name=package_name,
+    version='0.1.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages', [f'resource/{package_name}']),
+        (f'share/{package_name}', ['package.xml']),
+        (f'share/{package_name}/doc', ['doc/design_note.md']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Dylan Long',
+    maintainer_email='dylan.long@ufl.edu',
+    description='Generic ROS 2 bridge package for external simulator validation.',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'bridge_node = external_sim_bridge.main:main',
+        ],
+    },
+)

From 8330968ca35a4a6e9219306f19d6f963d102ceab Mon Sep 17 00:00:00 2001
From: Dylan <dylan1120long@gmail.com>
Date: Fri, 10 Apr 2026 19:46:13 -0400
Subject: [PATCH 3/7] feat: add Basilisk backend to external_sim_bridge

---
 src/external_sim_bridge/doc/design_note.md    |  66 ++++++
 .../__pycache__/bridge_node.cpython-314.pyc   | Bin 8071 -> 8510 bytes
 .../external_sim_bridge/backends/__init__.py  |   5 +-
 .../__pycache__/__init__.cpython-314.pyc      | Bin 939 -> 1103 bytes
 .../basilisk_backend.cpython-314.pyc          | Bin 0 -> 12496 bytes
 .../backends/basilisk_backend.py              | 201 ++++++++++++++++++
 .../bridge_sim.launch.cpython-312.pyc         | Bin 0 -> 1413 bytes
 .../launch/bridge_sim.launch.py               |  67 ++++++
 src/external_sim_bridge/package.xml           |   2 +
 src/external_sim_bridge/setup.py              |   1 +
 10 files changed, 341 insertions(+), 1 deletion(-)
 create mode 100644 src/external_sim_bridge/external_sim_bridge/backends/__pycache__/basilisk_backend.cpython-314.pyc
 create mode 100644 src/external_sim_bridge/external_sim_bridge/backends/basilisk_backend.py
 create mode 100644 src/external_sim_bridge/launch/__pycache__/bridge_sim.launch.cpython-312.pyc
 create mode 100644 src/external_sim_bridge/launch/bridge_sim.launch.py

diff --git a/src/external_sim_bridge/doc/design_note.md b/src/external_sim_bridge/doc/design_note.md
index 5b25ef4..1ec2391 100644
--- a/src/external_sim_bridge/doc/design_note.md
+++ b/src/external_sim_bridge/doc/design_note.md
@@ -167,6 +167,20 @@ For v1:
 This keeps `#24` separate from issue `#6`, which is the broader controller and interface
 generalization track.
 
+## Basilisk Paper Comparison
+
+The current Basilisk backend matches the manuscript and Basilisk/ROS bridge literature at the
+high-level adapter boundary only:
+
+- Basilisk remains behind a ROS adapter instead of leaking simulator-native messages into the ROS
+  graph
+- `gnc_node` remains unchanged and still consumes `env_data` and calls `actuation_cmd`
+- simulator-specific setup, message translation, and timing live inside the Basilisk backend
+
+For v1, the implementation intentionally does not reproduce a richer paper-style decomposition of
+navigation, guidance, and control modules on the ROS side. The bridge validates the external
+deployment pattern first while preserving ASTRO's current ROS contract.
+
 ## Correction to Presentation Wording
 
 Some presentation text describes `gnc_node` as if it "serves" `actuation_cmd`.
@@ -204,3 +218,55 @@ documentation:
 - actuation interface used for translational thrust
 - additional runtime dependencies or environment setup requirements
 - known gaps, approximations, or validation blockers
+
+## Current Basilisk Backend Provenance
+
+The current `basilisk` backend is implemented against Basilisk's published Python API
+documentation, because Basilisk is not installed in the active development environment used for
+this slice.
+
+Documentation used while implementing the backend:
+
+- `SimulationBaseClass` API from Basilisk `2.4.0`
+- `thrusterDynamicEffector` API from Basilisk `2.4.0`
+- `simIncludeThruster` Python helper from Basilisk `2.4.0`
+- `SCStatesMsgPayload` message fields from Basilisk `2.4.0`
+- `THRArrayOnTimeCmdMsgPayload` message fields from Basilisk `2.4.0`
+- `spacecraft` module API from Basilisk `2.10.0`
+
+This is sufficient to implement the backend boundary and fail-fast import behavior, but it is not
+yet a substitute for validating against a single installed Basilisk release in CI or in the
+development container.
+
+## Current Basilisk Scenario Assumptions
+
+The current backend uses an internal validation scenario named
+`translational_3dof_axis_thrusters`.
+
+Current scenario assumptions are:
+
+- initial translational state matches ASTRO's current `EnvNode` default state
+- telemetry is read from `scStateOutMsg.r_BN_N` and `scStateOutMsg.v_BN_N`
+- the exported ROS vector remains `[x, y, z, vx, vy, vz]`
+- the spacecraft attitude is initialized to zero and angular dynamics are initialized to zero
+- translational control is represented by six center-of-mass thrusters aligned to `+x`, `-x`,
+  `+y`, `-y`, `+z`, and `-z`
+- ROS `thrust[3]` is split into positive and negative axis pairs using one-to-one axis ordering
+- each axis command is converted into Basilisk thruster on-time requests over the bridge's
+  `100 ms` timer period
+
+## Current Runtime Requirements and Blockers
+
+The current backend requires:
+
+- the Basilisk Python package to be installed and importable as `Basilisk`
+- the ROS 2 workspace to be built with both `distributed_satellite_sim` and
+  `external_sim_bridge`
+- launch via `external_sim_bridge/launch/bridge_sim.launch.py` or direct `ros2 run`
+
+Known current blockers and gaps:
+
+- the active workspace used for implementation does not have Basilisk installed
+- the backend therefore has startup validation only, not a live end-to-end Basilisk smoke test
+- the exact Basilisk release to support still needs to be pinned and tested as a single runtime
+  source of truth
diff --git a/src/external_sim_bridge/external_sim_bridge/__pycache__/bridge_node.cpython-314.pyc b/src/external_sim_bridge/external_sim_bridge/__pycache__/bridge_node.cpython-314.pyc
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diff --git a/src/external_sim_bridge/external_sim_bridge/backends/__init__.py b/src/external_sim_bridge/external_sim_bridge/backends/__init__.py
index 46be163..a61b533 100644
--- a/src/external_sim_bridge/external_sim_bridge/backends/__init__.py
+++ b/src/external_sim_bridge/external_sim_bridge/backends/__init__.py
@@ -1,4 +1,5 @@
 from external_sim_bridge.backends.base import ExternalSimBackend
+from external_sim_bridge.backends.basilisk_backend import BasiliskBackend
 from external_sim_bridge.backends.fake_backend import FakeBackend
 
 
@@ -7,7 +8,9 @@ def create_backend(backend_type: str) -> ExternalSimBackend:
 
     if normalized_backend_type == 'fake':
         return FakeBackend()
+    if normalized_backend_type == 'basilisk':
+        return BasiliskBackend()
 
     raise ValueError(
-        f"Unsupported backend_type '{backend_type}'. Available backends: ['fake']"
+        f"Unsupported backend_type '{backend_type}'. Available backends: ['fake', 'basilisk']"
     )
diff --git a/src/external_sim_bridge/external_sim_bridge/backends/__pycache__/__init__.cpython-314.pyc b/src/external_sim_bridge/external_sim_bridge/backends/__pycache__/__init__.cpython-314.pyc
index 4d33440a726ce8b03591020d6dae7700c8fe48e3..714e8dd77f34057e0199b52e1ed3620ec02b08ca 100644
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diff --git a/src/external_sim_bridge/external_sim_bridge/backends/__pycache__/basilisk_backend.cpython-314.pyc b/src/external_sim_bridge/external_sim_bridge/backends/__pycache__/basilisk_backend.cpython-314.pyc
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HcmV?d00001

diff --git a/src/external_sim_bridge/external_sim_bridge/backends/basilisk_backend.py b/src/external_sim_bridge/external_sim_bridge/backends/basilisk_backend.py
new file mode 100644
index 0000000..b995202
--- /dev/null
+++ b/src/external_sim_bridge/external_sim_bridge/backends/basilisk_backend.py
@@ -0,0 +1,201 @@
+from __future__ import annotations
+
+from typing import Any, Sequence
+
+from external_sim_bridge.backends.base import BackendValidationError
+
+
+class BasiliskBackend:
+    """Basilisk backend for a fixed translational validation scenario.
+
+    Provenance assumptions:
+    - designed against Basilisk's documented Python APIs for `SimulationBaseClass`,
+      `spacecraft.Spacecraft`, `thrusterDynamicEffector`, `simIncludeThruster`,
+      `SCStatesMsgPayload`, and `THRArrayOnTimeCmdMsgPayload`
+    - the validation scenario is an internal bridge-only configuration named
+      `translational_3dof_axis_thrusters`
+
+    Scenario assumptions:
+    - telemetry uses `scStateOutMsg.r_BN_N` and `scStateOutMsg.v_BN_N`
+    - the exported ROS state is `[x, y, z, vx, vy, vz]` in the same inertial frame
+    - the spacecraft attitude is initialized to zero and no torque is introduced, so
+      body-frame thruster axes stay aligned with the inertial axes for this scenario
+    - translational actuation is modeled with six center-of-mass thrusters:
+      `+x`, `-x`, `+y`, `-y`, `+z`, `-z`
+    - each ROS thrust component maps to the matching Basilisk axis pair using
+      one-to-one axis ordering and a fixed force-to-on-time conversion over the
+      bridge's 100 ms step
+
+    Known limitation:
+    - this scenario is a bridge-validation path, not an HCW-equivalent Basilisk model
+    """
+
+    _STEP_PERIOD_SEC = 0.1
+    _TASK_NAME = 'basilisk_bridge_task'
+    _PROCESS_NAME = 'basilisk_bridge_process'
+    _SPACECRAFT_TAG = 'basilisk_bridge_spacecraft'
+    _THRUSTER_TAG = 'basilisk_bridge_thrusters'
+    _AXIS_THRUSTER_MAX_THRUST_N = 1.0
+    _INITIAL_POSITION_M = [20.0, 20.0, 20.0]
+    _INITIAL_VELOCITY_MPS = [0.00930458, -0.0467472, 0.00798343]
+    _THRUSTER_LAYOUT = (
+        ('+x', [1.0, 0.0, 0.0]),
+        ('-x', [-1.0, 0.0, 0.0]),
+        ('+y', [0.0, 1.0, 0.0]),
+        ('-y', [0.0, -1.0, 0.0]),
+        ('+z', [0.0, 0.0, 1.0]),
+        ('-z', [0.0, 0.0, -1.0]),
+    )
+
+    def __init__(self) -> None:
+        self._control = [0.0, 0.0, 0.0]
+        self._current_stop_time_ns = 0
+        self._step_period_ns: int | None = None
+        self._messaging: Any = None
+        self._sim: Any = None
+        self._macros: Any = None
+        self._spacecraft: Any = None
+        self._thruster_effector: Any = None
+        self._thruster_command_msg: Any = None
+
+    def initialize(self) -> None:
+        modules = self._import_basilisk_modules()
+        self._messaging = modules['messaging']
+        self._macros = modules['macros']
+        self._sim = modules['SimulationBaseClass'].SimBaseClass()
+        self._step_period_ns = self._macros.sec2nano(self._STEP_PERIOD_SEC)
+
+        dynamics_process = self._sim.CreateNewProcess(self._PROCESS_NAME)
+        dynamics_process.addTask(
+            self._sim.CreateNewTask(self._TASK_NAME, self._step_period_ns)
+        )
+
+        self._spacecraft = self._create_spacecraft(modules['spacecraft'])
+        self._thruster_effector = self._create_thrusters(
+            sim_include_thruster=modules['simIncludeThruster'],
+            thruster_dynamic_effector=modules['thrusterDynamicEffector'],
+        )
+
+        self._sim.AddModelToTask(self._TASK_NAME, self._thruster_effector)
+        self._sim.AddModelToTask(self._TASK_NAME, self._spacecraft)
+
+        zero_cmd = self._build_thruster_payload([0.0] * len(self._THRUSTER_LAYOUT))
+        self._thruster_command_msg = self._messaging.THRArrayOnTimeCmdMsg().write(zero_cmd)
+        self._thruster_effector.cmdsInMsg.subscribeTo(self._thruster_command_msg)
+
+        self._sim.InitializeSimulation()
+
+    def validate_control(self, control: Sequence[float]) -> None:
+        if len(control) != 3:
+            raise BackendValidationError(
+                f'Basilisk backend expected a 3-element control vector, received {len(control)}'
+            )
+
+        for axis_name, value in zip(('x', 'y', 'z'), control):
+            if abs(float(value)) > self._AXIS_THRUSTER_MAX_THRUST_N:
+                raise BackendValidationError(
+                    f'Basilisk {axis_name}-axis command {value} exceeds the configured '
+                    f'per-axis thrust limit of {self._AXIS_THRUSTER_MAX_THRUST_N} N'
+                )
+
+    def apply_control(self, control: Sequence[float]) -> None:
+        self.validate_control(control)
+        self._control = [float(value) for value in control]
+        self._thruster_command_msg.write(self._build_thruster_payload(self._control_to_on_times()))
+
+    def advance(self) -> list[float]:
+        if self._step_period_ns is None:
+            raise RuntimeError('Basilisk backend was not initialized before advance()')
+
+        self._current_stop_time_ns += self._step_period_ns
+        self._sim.ConfigureStopTime(self._current_stop_time_ns)
+        self._sim.ExecuteSimulation()
+
+        state = self._spacecraft.scStateOutMsg.read()
+        return [
+            float(state.r_BN_N[0]),
+            float(state.r_BN_N[1]),
+            float(state.r_BN_N[2]),
+            float(state.v_BN_N[0]),
+            float(state.v_BN_N[1]),
+            float(state.v_BN_N[2]),
+        ]
+
+    def _import_basilisk_modules(self) -> dict[str, Any]:
+        try:
+            from Basilisk.architecture import messaging
+            from Basilisk.simulation import spacecraft, thrusterDynamicEffector
+            from Basilisk.utilities import SimulationBaseClass, macros, simIncludeThruster
+        except ModuleNotFoundError as error:
+            raise ImportError(
+                'Basilisk backend selected, but the Basilisk Python package is not installed '
+                'or is missing required modules'
+            ) from error
+
+        return {
+            'SimulationBaseClass': SimulationBaseClass,
+            'macros': macros,
+            'messaging': messaging,
+            'simIncludeThruster': simIncludeThruster,
+            'spacecraft': spacecraft,
+            'thrusterDynamicEffector': thrusterDynamicEffector,
+        }
+
+    def _create_spacecraft(self, spacecraft_module: Any) -> Any:
+        spacecraft_object = spacecraft_module.Spacecraft()
+        spacecraft_object.ModelTag = self._SPACECRAFT_TAG
+        spacecraft_object.hub.mHub = 1.0
+        spacecraft_object.hub.r_BcB_B = [0.0, 0.0, 0.0]
+        spacecraft_object.hub.IHubPntBc_B = [
+            [1.0, 0.0, 0.0],
+            [0.0, 1.0, 0.0],
+            [0.0, 0.0, 1.0],
+        ]
+        spacecraft_object.hub.r_CN_NInit = self._INITIAL_POSITION_M
+        spacecraft_object.hub.v_CN_NInit = self._INITIAL_VELOCITY_MPS
+        spacecraft_object.hub.sigma_BNInit = [0.0, 0.0, 0.0]
+        spacecraft_object.hub.omega_BN_BInit = [0.0, 0.0, 0.0]
+        return spacecraft_object
+
+    def _create_thrusters(
+        self,
+        sim_include_thruster: Any,
+        thruster_dynamic_effector: Any,
+    ) -> Any:
+        thruster_effector = thruster_dynamic_effector.ThrusterDynamicEffector()
+        thruster_factory = sim_include_thruster.thrusterFactory()
+
+        for label, axis in self._THRUSTER_LAYOUT:
+            thruster_factory.create(
+                'Blank_Thruster',
+                [0.0, 0.0, 0.0],
+                axis,
+                label=label,
+                MaxThrust=float(self._AXIS_THRUSTER_MAX_THRUST_N),
+                useMinPulseTime=False,
+            )
+
+        thruster_factory.addToSpacecraft(
+            self._THRUSTER_TAG,
+            thruster_effector,
+            self._spacecraft,
+        )
+        return thruster_effector
+
+    def _control_to_on_times(self) -> list[float]:
+        x_force, y_force, z_force = self._control
+        scale = self._STEP_PERIOD_SEC / self._AXIS_THRUSTER_MAX_THRUST_N
+        return [
+            max(x_force, 0.0) * scale,
+            max(-x_force, 0.0) * scale,
+            max(y_force, 0.0) * scale,
+            max(-y_force, 0.0) * scale,
+            max(z_force, 0.0) * scale,
+            max(-z_force, 0.0) * scale,
+        ]
+
+    def _build_thruster_payload(self, on_times: Sequence[float]) -> Any:
+        payload = self._messaging.THRArrayOnTimeCmdMsgPayload()
+        for index, on_time in enumerate(on_times):
+            payload.OnTimeRequest[index] = float(on_time)
+        return payload
diff --git a/src/external_sim_bridge/launch/__pycache__/bridge_sim.launch.cpython-312.pyc b/src/external_sim_bridge/launch/__pycache__/bridge_sim.launch.cpython-312.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..590f1ee35f6d61017b6f9e7f4dff6f06d1d0d6fc
GIT binary patch
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diff --git a/src/external_sim_bridge/launch/bridge_sim.launch.py b/src/external_sim_bridge/launch/bridge_sim.launch.py
new file mode 100644
index 0000000..f82019b
--- /dev/null
+++ b/src/external_sim_bridge/launch/bridge_sim.launch.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+
+# Copyright 2026 ASTRO
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    backend_type_arg = DeclareLaunchArgument(
+        'backend_type',
+        default_value='basilisk',
+        description='Bridge backend to run (default: basilisk)',
+    )
+
+    max_steps_arg = DeclareLaunchArgument(
+        'max_steps',
+        default_value='91',
+        description='Number of bridge steps to execute (0 = infinite)',
+    )
+
+    min_subscribers_arg = DeclareLaunchArgument(
+        'min_subscribers',
+        default_value='1',
+        description='Minimum number of env_data subscribers before advancing',
+    )
+
+    bridge_node = Node(
+        package='external_sim_bridge',
+        executable='bridge_node',
+        name='external_sim_bridge',
+        output='screen',
+        parameters=[{
+            'backend_type': LaunchConfiguration('backend_type'),
+            'max_steps': LaunchConfiguration('max_steps'),
+            'min_subscribers': LaunchConfiguration('min_subscribers'),
+        }],
+    )
+
+    gnc_node = Node(
+        package='distributed_satellite_sim',
+        executable='gnc_node',
+        name='gnc_node',
+        output='screen',
+    )
+
+    return LaunchDescription([
+        backend_type_arg,
+        max_steps_arg,
+        min_subscribers_arg,
+        bridge_node,
+        gnc_node,
+    ])
diff --git a/src/external_sim_bridge/package.xml b/src/external_sim_bridge/package.xml
index 89c6438..ad7c768 100644
--- a/src/external_sim_bridge/package.xml
+++ b/src/external_sim_bridge/package.xml
@@ -16,6 +16,8 @@
   <depend>distributed_satellite_sim</depend>
   <depend>rclpy</depend>
   <depend>std_msgs</depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
   <exec_depend>python3-numpy</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
diff --git a/src/external_sim_bridge/setup.py b/src/external_sim_bridge/setup.py
index 3fd1bbe..7df2cb1 100644
--- a/src/external_sim_bridge/setup.py
+++ b/src/external_sim_bridge/setup.py
@@ -12,6 +12,7 @@
         ('share/ament_index/resource_index/packages', [f'resource/{package_name}']),
         (f'share/{package_name}', ['package.xml']),
         (f'share/{package_name}/doc', ['doc/design_note.md']),
+        (f'share/{package_name}/launch', ['launch/bridge_sim.launch.py']),
     ],
     install_requires=['setuptools'],
     zip_safe=True,

From 6913f008e848952ad76e087c0ae578c32aa4f695 Mon Sep 17 00:00:00 2001
From: Dylan <dylan1120long@gmail.com>
Date: Tue, 14 Apr 2026 11:36:21 -0400
Subject: [PATCH 4/7] test: validate external simulator bridge compatibility

---
 .../external_sim_bridge/main.py               |   5 +-
 src/external_sim_bridge/package.xml           |   4 +
 src/external_sim_bridge/pytest.ini            |   2 +
 src/external_sim_bridge/setup.py              |  12 ++
 src/external_sim_bridge/test/__init__.py      |   1 +
 .../test/data/dlqr_reference_trajectory.csv   |  91 ++++++++++
 .../test/test_bridge_node.py                  | 158 +++++++++++++++++
 .../test/test_bridge_reference_launch.py      | 165 ++++++++++++++++++
 .../test/test_fake_backend.py                 |  75 ++++++++
 9 files changed, 512 insertions(+), 1 deletion(-)
 create mode 100644 src/external_sim_bridge/pytest.ini
 create mode 100644 src/external_sim_bridge/test/__init__.py
 create mode 100644 src/external_sim_bridge/test/data/dlqr_reference_trajectory.csv
 create mode 100644 src/external_sim_bridge/test/test_bridge_node.py
 create mode 100644 src/external_sim_bridge/test/test_bridge_reference_launch.py
 create mode 100644 src/external_sim_bridge/test/test_fake_backend.py

diff --git a/src/external_sim_bridge/external_sim_bridge/main.py b/src/external_sim_bridge/external_sim_bridge/main.py
index f17a729..a30db5d 100644
--- a/src/external_sim_bridge/external_sim_bridge/main.py
+++ b/src/external_sim_bridge/external_sim_bridge/main.py
@@ -7,5 +7,8 @@ def main(args=None) -> None:
     rclpy.init(args=args)
     try:
         spin_bridge()
+    except KeyboardInterrupt:
+        pass
     finally:
-        rclpy.shutdown()
+        if rclpy.ok():
+            rclpy.shutdown()
diff --git a/src/external_sim_bridge/package.xml b/src/external_sim_bridge/package.xml
index ad7c768..8263b46 100644
--- a/src/external_sim_bridge/package.xml
+++ b/src/external_sim_bridge/package.xml
@@ -22,6 +22,10 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_index_python</test_depend>
+  <test_depend>launch_ros</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>python3-pytest</test_depend>
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/src/external_sim_bridge/pytest.ini b/src/external_sim_bridge/pytest.ini
new file mode 100644
index 0000000..2266419
--- /dev/null
+++ b/src/external_sim_bridge/pytest.ini
@@ -0,0 +1,2 @@
+[pytest]
+testpaths = test
diff --git a/src/external_sim_bridge/setup.py b/src/external_sim_bridge/setup.py
index 7df2cb1..cbff7e1 100644
--- a/src/external_sim_bridge/setup.py
+++ b/src/external_sim_bridge/setup.py
@@ -13,6 +13,18 @@
         (f'share/{package_name}', ['package.xml']),
         (f'share/{package_name}/doc', ['doc/design_note.md']),
         (f'share/{package_name}/launch', ['launch/bridge_sim.launch.py']),
+        (
+            f'share/{package_name}/test',
+            [
+                'test/test_fake_backend.py',
+                'test/test_bridge_node.py',
+                'test/test_bridge_reference_launch.py',
+            ],
+        ),
+        (
+            f'share/{package_name}/test/data',
+            ['test/data/dlqr_reference_trajectory.csv'],
+        ),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/src/external_sim_bridge/test/__init__.py b/src/external_sim_bridge/test/__init__.py
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/src/external_sim_bridge/test/__init__.py
@@ -0,0 +1 @@
+
diff --git a/src/external_sim_bridge/test/data/dlqr_reference_trajectory.csv b/src/external_sim_bridge/test/data/dlqr_reference_trajectory.csv
new file mode 100644
index 0000000..e33bbf4
--- /dev/null
+++ b/src/external_sim_bridge/test/data/dlqr_reference_trajectory.csv
@@ -0,0 +1,91 @@
+21.474377061136369,2.292875120797660,21.081978135884185,-0.001232341729441,-0.050158638812040,-0.002059582195653
+16.235280829810684,-12.626303436833686,17.897073550814067,-0.026227831720655,-0.029245513266003,-0.015377821951063
+6.486265440934633,-17.928792370983569,11.604173281188201,-0.026246256566643,-0.000210193261359,-0.019075908867384
+-0.921495986127911,-14.657820888936183,5.126211415129908,-0.014339968125821,0.016724520136396,-0.016391037186507
+-3.849430758681117,-7.964165980281448,0.167265629767840,-0.002345851112268,0.018792486112254,-0.010759271242311
+-3.380891646081291,-2.214866308767135,-2.687034547248812,0.004150239405856,0.012243603636776,-0.004868068419918
+-1.591165474919844,0.791424514717339,-3.632177709694075,0.005122266877151,0.004322674674491,-0.000306605690358
+-0.043614681468529,1.374181850224460,-3.257640824468955,0.003134742848019,-0.000808406882247,0.002357201198349
+0.664617082282504,0.729638777597417,-2.228566701235212,0.000743898443748,-0.002439505804749,0.003276996280556
+0.657906206414624,-0.073743443877466,-1.086264874954650,-0.000696980811848,-0.001823112190483,0.002977124704970
+0.330971721040675,-0.508581945651428,-0.166113575865198,-0.001020720543594,-0.000547582318208,0.002060718548973
+0.015329011059273,-0.530645138707978,0.397375313967736,-0.000680298454477,0.000377611359071,0.001024392242183
+-0.143237538571929,-0.329236505905397,0.617328280461929,-0.000197655023774,0.000674126056910,0.000179853809020
+-0.152863852920315,-0.105741122595624,0.587311293554424,0.000120831878710,0.000523171378039,-0.000344197298124
+-0.088233598208714,0.031500529500849,0.423053791634292,0.000212536717138,0.000226513992327,-0.000555115183179
+-0.019092823861825,0.070106967906883,0.223842397382815,0.000156163687870,-0.000004184846688,-0.000535570424320
+0.020151822277853,0.048841001418285,0.054748201126866,0.000057963862955,-0.000100286848925,-0.000390223036746
+0.027637660377120,0.012405480178353,-0.054875140357848,-0.000013439959627,-0.000092191013124,-0.000209966531991
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+-0.004266674868684,-0.014181831153614,-0.079453435073491,-0.000013271501684,0.000023018822655,0.000092518431997
+-0.006230665384917,-0.005674057243120,-0.045130586172460,0.000001765353938,0.000022152975767,0.000095399721206
+-0.004303784126565,0.000578215803262,-0.014351205462328,0.000007952564771,0.000011720416460,0.000073117886306
+-0.001463175685113,0.002967409253729,0.006702437549975,0.000007115515519,0.000001669424568,0.000042151149912
+0.000480705384147,0.002534796430046,0.016962350857774,0.000003425527393,-0.000003559064543,0.000014022041491
+0.001112578343366,0.001061489667573,0.018528740408490,0.000000152452438,-0.000004170256100,-0.000005446033351
+0.000855998414737,-0.000162854126861,0.014772089186698,-0.000001395657131,-0.000002416107405,-0.000015121692885
+0.000320885002231,-0.000676263216993,0.008938341191861,-0.000001430148236,-0.000000431363051,-0.000016818171799
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diff --git a/src/external_sim_bridge/test/test_bridge_node.py b/src/external_sim_bridge/test/test_bridge_node.py
new file mode 100644
index 0000000..648150e
--- /dev/null
+++ b/src/external_sim_bridge/test/test_bridge_node.py
@@ -0,0 +1,158 @@
+import time
+import unittest
+from unittest.mock import patch
+
+import rclpy
+from distributed_satellite_sim.srv import ActuationCmd
+from rclpy.executors import SingleThreadedExecutor
+from rclpy.node import Node
+from std_msgs.msg import Float64MultiArray
+
+from external_sim_bridge.bridge_node import ExternalSimBridgeNode
+from external_sim_bridge.config import BridgeConfig
+
+
+class ExplodingBackend:
+    def initialize(self) -> None:
+        return None
+
+    def validate_control(self, control) -> None:
+        return None
+
+    def apply_control(self, control) -> None:
+        return None
+
+    def advance(self):
+        raise RuntimeError('boom')
+
+
+class WrongStateBackend:
+    def initialize(self) -> None:
+        return None
+
+    def validate_control(self, control) -> None:
+        return None
+
+    def apply_control(self, control) -> None:
+        return None
+
+    def advance(self):
+        return [1.0, 2.0]
+
+
+class RejectingControlBackend:
+    def initialize(self) -> None:
+        return None
+
+    def validate_control(self, control) -> None:
+        raise ValueError('backend rejected control')
+
+    def apply_control(self, control) -> None:
+        return None
+
+    def advance(self):
+        return [0.0] * 6
+
+
+class BridgeNodeTest(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        if not rclpy.ok():
+            rclpy.init()
+
+    @classmethod
+    def tearDownClass(cls):
+        if rclpy.ok():
+            rclpy.shutdown()
+
+    def setUp(self):
+        self.helper_node = Node('external_sim_bridge_test_helper')
+        self.executor = SingleThreadedExecutor()
+        self.received_messages = []
+        self.subscription = self.helper_node.create_subscription(
+            Float64MultiArray,
+            'env_data',
+            self.received_messages.append,
+            10,
+        )
+        self.client = self.helper_node.create_client(ActuationCmd, 'actuation_cmd')
+        self.bridge = None
+
+    def tearDown(self):
+        if self.bridge is not None:
+            self.executor.remove_node(self.bridge)
+            self.bridge.destroy_node()
+            self.bridge = None
+        self.executor.remove_node(self.helper_node)
+        self.executor.shutdown()
+        self.helper_node.destroy_node()
+
+    def _make_bridge(self, *, backend, config: BridgeConfig):
+        with (
+            patch('external_sim_bridge.bridge_node.load_bridge_config', return_value=config),
+            patch('external_sim_bridge.bridge_node.create_backend', return_value=backend),
+        ):
+            self.bridge = ExternalSimBridgeNode()
+        self.executor.add_node(self.bridge)
+        self.executor.add_node(self.helper_node)
+
+    def _spin_for(self, seconds: float):
+        deadline = time.monotonic() + seconds
+        while time.monotonic() < deadline:
+            self.executor.spin_once(timeout_sec=0.05)
+
+    def _call_actuation(self, thrust):
+        self.assertTrue(self.client.wait_for_service(timeout_sec=2.0))
+        request = ActuationCmd.Request()
+        request.thrust = list(thrust)
+        future = self.client.call_async(request)
+        deadline = time.monotonic() + 2.0
+        while not future.done() and time.monotonic() < deadline:
+            self.executor.spin_once(timeout_sec=0.05)
+        self.assertTrue(future.done(), 'actuation_cmd service call did not complete')
+        return future.result()
+
+    def test_bridge_waits_for_min_subscribers_before_publishing(self):
+        self._make_bridge(
+            backend=WrongStateBackend(),
+            config=BridgeConfig(backend_type='fake', max_steps=91, min_subscribers=2),
+        )
+
+        self._spin_for(0.35)
+
+        self.assertEqual(len(self.received_messages), 0)
+        self.assertIsNone(self.bridge._runtime_failure)
+
+    def test_bridge_returns_failure_when_backend_rejects_control(self):
+        self._make_bridge(
+            backend=RejectingControlBackend(),
+            config=BridgeConfig(backend_type='fake', max_steps=91, min_subscribers=0),
+        )
+
+        response = self._call_actuation([1.0, 2.0, 3.0])
+
+        self.assertFalse(response.success)
+
+    def test_bridge_stops_timer_on_backend_runtime_failure(self):
+        with patch('external_sim_bridge.bridge_node.rclpy.shutdown', return_value=None):
+            self._make_bridge(
+                backend=ExplodingBackend(),
+                config=BridgeConfig(backend_type='fake', max_steps=91, min_subscribers=0),
+            )
+
+            self._spin_for(0.25)
+
+        self.assertIsNotNone(self.bridge._runtime_failure)
+        self.assertTrue(self.bridge._timer.is_canceled())
+
+    def test_bridge_rejects_wrong_state_dimension(self):
+        with patch('external_sim_bridge.bridge_node.rclpy.shutdown', return_value=None):
+            self._make_bridge(
+                backend=WrongStateBackend(),
+                config=BridgeConfig(backend_type='fake', max_steps=91, min_subscribers=0),
+            )
+
+            self._spin_for(0.25)
+
+        self.assertIsNotNone(self.bridge._runtime_failure)
+        self.assertTrue(self.bridge._timer.is_canceled())
diff --git a/src/external_sim_bridge/test/test_bridge_reference_launch.py b/src/external_sim_bridge/test/test_bridge_reference_launch.py
new file mode 100644
index 0000000..746c076
--- /dev/null
+++ b/src/external_sim_bridge/test/test_bridge_reference_launch.py
@@ -0,0 +1,165 @@
+#!/usr/bin/env python3
+
+import csv
+import os
+import time
+import unittest
+
+from ament_index_python.packages import get_package_share_directory
+import launch
+from launch.actions import EmitEvent
+from launch.actions import IncludeLaunchDescription
+from launch.actions import TimerAction
+from launch.events import Shutdown
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+import launch_testing
+import launch_testing.actions
+import launch_testing.asserts
+import pytest
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile
+from std_msgs.msg import Float64MultiArray
+
+REFERENCE_FIXTURE_PATH = os.path.join(
+    get_package_share_directory('external_sim_bridge'),
+    'test',
+    'data',
+    'dlqr_reference_trajectory.csv',
+)
+EXPECTED_STEPS = 91
+STATE_SIZE = 6
+ABS_TOLERANCE = 1e-4
+SHUTDOWN_AFTER_SEC = 30.0
+RECEIVE_TIMEOUT_SEC = 25.0
+DISCOVERY_TIMEOUT_SEC = 10.0
+
+
+def _load_reference_trajectory():
+    with open(REFERENCE_FIXTURE_PATH, newline='', encoding='utf-8') as csv_file:
+        rows = [[float(value) for value in row] for row in csv.reader(csv_file)]
+
+    if len(rows) != EXPECTED_STEPS:
+        raise AssertionError(
+            f'Reference fixture must contain {EXPECTED_STEPS} rows, found {len(rows)}'
+        )
+
+    for step, row in enumerate(rows):
+        if len(row) != STATE_SIZE:
+            raise AssertionError(
+                f'Reference fixture row {step} must contain {STATE_SIZE} values, '
+                f'found {len(row)}'
+            )
+
+    return rows
+
+
+class TrajectoryRecorder(Node):
+    def __init__(self):
+        super().__init__('external_bridge_trajectory_recorder')
+        self.trajectory = []
+        self.subscription = self.create_subscription(
+            Float64MultiArray,
+            'env_data',
+            self._callback,
+            QoSProfile(depth=100),
+        )
+
+    def _callback(self, msg):
+        self.trajectory.append(list(msg.data))
+
+
+@pytest.mark.rostest
+def generate_test_description():
+    package_share = get_package_share_directory('external_sim_bridge')
+    launch_path = os.path.join(package_share, 'launch', 'bridge_sim.launch.py')
+
+    bridge_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(launch_path),
+        launch_arguments={
+            'backend_type': 'fake',
+            'max_steps': str(EXPECTED_STEPS),
+            'min_subscribers': '2',
+        }.items(),
+    )
+
+    return (
+        launch.LaunchDescription([
+            launch_testing.actions.ReadyToTest(),
+            bridge_launch,
+            TimerAction(
+                period=SHUTDOWN_AFTER_SEC,
+                actions=[EmitEvent(event=Shutdown(reason='bridge trajectory capture complete'))],
+            ),
+        ]),
+        {},
+    )
+
+
+class TestBridgeReferenceTrajectory(unittest.TestCase):
+    @classmethod
+    def setUpClass(cls):
+        rclpy.init()
+        cls.recorder = TrajectoryRecorder()
+
+    @classmethod
+    def tearDownClass(cls):
+        cls.recorder.destroy_node()
+        rclpy.shutdown()
+
+    def test_bridge_ros_trajectory_matches_reference(self):
+        reference_trajectory = _load_reference_trajectory()
+
+        discovery_deadline = time.monotonic() + DISCOVERY_TIMEOUT_SEC
+        while (
+            self.recorder.count_publishers('env_data') == 0
+            and time.monotonic() < discovery_deadline
+        ):
+            rclpy.spin_once(self.recorder, timeout_sec=0.1)
+
+        self.assertGreater(
+            self.recorder.count_publishers('env_data'),
+            0,
+            'env_data publisher was not discovered within timeout',
+        )
+
+        deadline = time.monotonic() + RECEIVE_TIMEOUT_SEC
+        while (
+            len(self.recorder.trajectory) < EXPECTED_STEPS
+            and time.monotonic() < deadline
+        ):
+            rclpy.spin_once(self.recorder, timeout_sec=0.1)
+
+        received = len(self.recorder.trajectory)
+        self.assertEqual(
+            received,
+            EXPECTED_STEPS,
+            f'Expected {EXPECTED_STEPS} env_data messages, received {received}',
+        )
+
+        for step, (actual_row, expected_row) in enumerate(
+            zip(self.recorder.trajectory, reference_trajectory)
+        ):
+            self.assertEqual(
+                len(actual_row),
+                STATE_SIZE,
+                f'Trajectory row {step} should contain {STATE_SIZE} state values',
+            )
+            for index, (actual_value, expected_value) in enumerate(
+                zip(actual_row, expected_row)
+            ):
+                difference = abs(actual_value - expected_value)
+                self.assertLessEqual(
+                    difference,
+                    ABS_TOLERANCE,
+                    f'Bridge trajectory mismatch at step '
+                    f'{step}, state[{index}]: actual={actual_value:.15f}, '
+                    f'expected={expected_value:.15f}, abs_diff={difference:.15f}, '
+                    f'tolerance={ABS_TOLERANCE}.',
+                )
+
+
+@launch_testing.post_shutdown_test()
+class TestBridgeLaunchShutdown(unittest.TestCase):
+    def test_all_processes_exit_zero(self, proc_info):
+        launch_testing.asserts.assertExitCodes(proc_info)
diff --git a/src/external_sim_bridge/test/test_fake_backend.py b/src/external_sim_bridge/test/test_fake_backend.py
new file mode 100644
index 0000000..bda00a9
--- /dev/null
+++ b/src/external_sim_bridge/test/test_fake_backend.py
@@ -0,0 +1,75 @@
+import numpy as np
+
+from external_sim_bridge.backends.base import BackendValidationError
+from external_sim_bridge.backends.fake_backend import FakeBackend
+
+
+def test_fake_backend_zero_thrust_matches_reference_first_step():
+    backend = FakeBackend()
+    backend.initialize()
+    backend.apply_control([0.0, 0.0, 0.0])
+
+    state = backend.advance()
+
+    expected = np.array(
+        [
+            21.474377061136369,
+            2.292875120797660,
+            21.081978135884185,
+            -0.001232341729441,
+            -0.050158638812040,
+            -0.002059582195653,
+        ],
+        dtype=float,
+    )
+    np.testing.assert_allclose(np.array(state, dtype=float), expected, atol=1e-12)
+
+
+def test_fake_backend_known_thrust_matches_linear_update():
+    backend = FakeBackend()
+    backend.initialize()
+    control = np.array([1e-7, -2e-7, 5e-8], dtype=float)
+    backend.apply_control(control.tolist())
+
+    state = np.array(backend.advance(), dtype=float)
+
+    x0 = np.array(
+        [20.0, 20.0, 20.0, 0.00930458, -0.0467472, 0.00798343],
+        dtype=float,
+    )
+    ad = np.array(
+        [
+            [1.25645279151274, 0.0, 0.0, 349.682205848334, 147.7805051, 0.0],
+            [-0.0716204647063059, 1.0, 0.0, -147.7805051, 318.728823393334, 0.0],
+            [0.0, 0.0, 0.914515736162421, 0.0, 0.0, 349.682205848334],
+            [0.0014040831838806, 0.0, 0.0, 0.914515736162421, 0.809100657054006, 0.0],
+            [-0.00059338484671504, 0.0, 0.0, -0.809100657054006, 0.658062944649682, 0.0],
+            [0.0, 0.0, -0.000468027727960198, 0.0, 0.0, 0.914515736162421],
+        ],
+        dtype=float,
+    )
+    bd = np.array(
+        [
+            [63868.7072544296, 17836.8364281426, 0.0],
+            [-17836.8364281426, 61074.8290177183, 0.0],
+            [0.0, 0.0, 63868.7072544296],
+            [349.682205848334, 147.7805051, 0.0],
+            [-147.7805051, 318.728823393334, 0.0],
+            [0.0, 0.0, 349.682205848334],
+        ],
+        dtype=float,
+    )
+
+    expected = ad @ x0 + bd @ control
+    np.testing.assert_allclose(state, expected, atol=1e-12)
+
+
+def test_fake_backend_rejects_wrong_control_dimension():
+    backend = FakeBackend()
+
+    try:
+        backend.validate_control([1.0, 2.0])
+    except BackendValidationError as error:
+        assert '3-element control vector' in str(error)
+    else:
+        raise AssertionError('Expected BackendValidationError for wrong control length')

From 85c3237baa5a06acb1db42262b303ce72e2ae0bf Mon Sep 17 00:00:00 2001
From: Dylan <dylan1120long@gmail.com>
Date: Mon, 20 Apr 2026 23:49:46 -0400
Subject: [PATCH 5/7] cleanup

---
 .gitignore                                      |   4 +++-
 .../__pycache__/__init__.cpython-314.pyc        | Bin 203 -> 0 bytes
 .../__pycache__/bridge_node.cpython-314.pyc     | Bin 8510 -> 0 bytes
 .../__pycache__/config.cpython-314.pyc          | Bin 2191 -> 0 bytes
 .../__pycache__/main.cpython-314.pyc            | Bin 748 -> 0 bytes
 .../__pycache__/__init__.cpython-314.pyc        | Bin 1103 -> 0 bytes
 .../backends/__pycache__/base.cpython-314.pyc   | Bin 2336 -> 0 bytes
 .../basilisk_backend.cpython-314.pyc            | Bin 12496 -> 0 bytes
 .../__pycache__/fake_backend.cpython-314.pyc    | Bin 3770 -> 0 bytes
 .../bridge_sim.launch.cpython-312.pyc           | Bin 1413 -> 0 bytes
 src/external_sim_bridge/package.xml             |   2 --
 11 files changed, 3 insertions(+), 3 deletions(-)
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 delete mode 100644 src/external_sim_bridge/external_sim_bridge/__pycache__/bridge_node.cpython-314.pyc
 delete mode 100644 src/external_sim_bridge/external_sim_bridge/__pycache__/config.cpython-314.pyc
 delete mode 100644 src/external_sim_bridge/external_sim_bridge/__pycache__/main.cpython-314.pyc
 delete mode 100644 src/external_sim_bridge/external_sim_bridge/backends/__pycache__/__init__.cpython-314.pyc
 delete mode 100644 src/external_sim_bridge/external_sim_bridge/backends/__pycache__/base.cpython-314.pyc
 delete mode 100644 src/external_sim_bridge/external_sim_bridge/backends/__pycache__/basilisk_backend.cpython-314.pyc
 delete mode 100644 src/external_sim_bridge/external_sim_bridge/backends/__pycache__/fake_backend.cpython-314.pyc
 delete mode 100644 src/external_sim_bridge/launch/__pycache__/bridge_sim.launch.cpython-312.pyc

diff --git a/.gitignore b/.gitignore
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 build/
 install/
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diff --git a/src/external_sim_bridge/external_sim_bridge/backends/__pycache__/fake_backend.cpython-314.pyc b/src/external_sim_bridge/external_sim_bridge/backends/__pycache__/fake_backend.cpython-314.pyc
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diff --git a/src/external_sim_bridge/launch/__pycache__/bridge_sim.launch.cpython-312.pyc b/src/external_sim_bridge/launch/__pycache__/bridge_sim.launch.cpython-312.pyc
deleted file mode 100644
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diff --git a/src/external_sim_bridge/package.xml b/src/external_sim_bridge/package.xml
index 8263b46..44e6e2d 100644
--- a/src/external_sim_bridge/package.xml
+++ b/src/external_sim_bridge/package.xml
@@ -11,8 +11,6 @@
   <maintainer email="dylan.long@ufl.edu">Dylan Long</maintainer>
   <license>Apache-2.0</license>
 
-  <buildtool_depend>ament_python</buildtool_depend>
-
   <depend>distributed_satellite_sim</depend>
   <depend>rclpy</depend>
   <depend>std_msgs</depend>

From 6e2384c63fc0b3993852904ec28582174f526252 Mon Sep 17 00:00:00 2001
From: Dylan <dylan1120long@gmail.com>
Date: Tue, 21 Apr 2026 11:03:56 -0400
Subject: [PATCH 6/7] fix/undervalidation-and-test-drifting

---
 .../validate-external-sim-bridge.yml          |  62 +++++++
 src/DistributedSatelliteSim/CMakeLists.txt    |   5 +
 src/external_sim_bridge/doc/design_note.md    |  43 +++--
 src/external_sim_bridge/setup.py              |   6 +-
 .../test/data/dlqr_reference_trajectory.csv   |  91 ----------
 .../test/test_basilisk_backend.py             |  56 ++++++
 .../test/test_bridge_basilisk_launch.py       | 164 ++++++++++++++++++
 .../test/test_bridge_reference_launch.py      |   8 +-
 8 files changed, 321 insertions(+), 114 deletions(-)
 create mode 100644 .github/workflows/validate-external-sim-bridge.yml
 delete mode 100644 src/external_sim_bridge/test/data/dlqr_reference_trajectory.csv
 create mode 100644 src/external_sim_bridge/test/test_basilisk_backend.py
 create mode 100644 src/external_sim_bridge/test/test_bridge_basilisk_launch.py

diff --git a/.github/workflows/validate-external-sim-bridge.yml b/.github/workflows/validate-external-sim-bridge.yml
new file mode 100644
index 0000000..3f95100
--- /dev/null
+++ b/.github/workflows/validate-external-sim-bridge.yml
@@ -0,0 +1,62 @@
+name: Validate external simulator bridge
+
+on:
+  push:
+    paths:
+      - 'src/external_sim_bridge/**'
+      - 'src/DistributedSatelliteSim/**'
+      - '.github/workflows/validate-external-sim-bridge.yml'
+  pull_request:
+    paths:
+      - 'src/external_sim_bridge/**'
+      - 'src/DistributedSatelliteSim/**'
+      - '.github/workflows/validate-external-sim-bridge.yml'
+  workflow_dispatch:
+
+jobs:
+  validate-bridge:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: read
+
+    steps:
+      - name: Downcase repository name
+        run: |
+          echo "REPO=${GITHUB_REPOSITORY@L}" >> "${GITHUB_ENV}"
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Pull ROS 2 validation image
+        run: docker pull ghcr.io/${{ env.REPO }}:latest
+
+      - name: Build and test external simulator bridge with Basilisk
+        env:
+          ASTRO_EXPECT_BASILISK: '1'
+        run: |
+          docker run --rm \
+            --user root \
+            -e ASTRO_EXPECT_BASILISK="${ASTRO_EXPECT_BASILISK}" \
+            -v "${GITHUB_WORKSPACE}:/home/ws" \
+            -w /home/ws \
+            ghcr.io/${{ env.REPO }}:latest \
+            bash -lc '
+              set -e
+              source /opt/ros/kilted/setup.bash
+              python3 -m pip install --break-system-packages "bsk==2.10.0"
+              python3 -c "import Basilisk; print(Basilisk.__version__)"
+              rosdep update
+              rosdep install --from-paths src --ignore-src -y
+              colcon build --packages-select distributed_satellite_sim external_sim_bridge
+              source install/setup.bash
+              colcon test --packages-select external_sim_bridge
+              colcon test-result --verbose
+            '
diff --git a/src/DistributedSatelliteSim/CMakeLists.txt b/src/DistributedSatelliteSim/CMakeLists.txt
index 197f84b..47d1dcf 100755
--- a/src/DistributedSatelliteSim/CMakeLists.txt
+++ b/src/DistributedSatelliteSim/CMakeLists.txt
@@ -62,6 +62,11 @@ install(DIRECTORY launch/
   DESTINATION share/${PROJECT_NAME}/launch
 )
 
+install(FILES
+  test/data/dlqr_reference_trajectory.csv
+  DESTINATION share/${PROJECT_NAME}/test/data
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
diff --git a/src/external_sim_bridge/doc/design_note.md b/src/external_sim_bridge/doc/design_note.md
index 1ec2391..9bf0310 100644
--- a/src/external_sim_bridge/doc/design_note.md
+++ b/src/external_sim_bridge/doc/design_note.md
@@ -127,8 +127,9 @@ That backend should use:
 This backend is not a toy stub. It is the bridge-core regression target that allows:
 
 - closed-loop testing with the existing `gnc_node`
-- comparison against the existing DLQR reference fixture in
-  `src/DistributedSatelliteSim/test/data/dlqr_reference_trajectory.csv`
+- comparison against the canonical installed DLQR reference fixture owned by
+  `distributed_satellite_sim` at
+  `share/distributed_satellite_sim/test/data/dlqr_reference_trajectory.csv`
 - isolation of bridge-architecture bugs before simulator-specific Basilisk work begins
 
 ## Failure Handling
@@ -221,11 +222,10 @@ documentation:
 
 ## Current Basilisk Backend Provenance
 
-The current `basilisk` backend is implemented against Basilisk's published Python API
-documentation, because Basilisk is not installed in the active development environment used for
-this slice.
+The current `basilisk` backend is pinned to the Basilisk Python runtime package
+`bsk==2.10.0` for automated validation.
 
-Documentation used while implementing the backend:
+Documentation and runtime references used while implementing the backend:
 
 - `SimulationBaseClass` API from Basilisk `2.4.0`
 - `thrusterDynamicEffector` API from Basilisk `2.4.0`
@@ -233,10 +233,7 @@ Documentation used while implementing the backend:
 - `SCStatesMsgPayload` message fields from Basilisk `2.4.0`
 - `THRArrayOnTimeCmdMsgPayload` message fields from Basilisk `2.4.0`
 - `spacecraft` module API from Basilisk `2.10.0`
-
-This is sufficient to implement the backend boundary and fail-fast import behavior, but it is not
-yet a substitute for validating against a single installed Basilisk release in CI or in the
-development container.
+- validated CI runtime pin: `bsk==2.10.0`
 
 ## Current Basilisk Scenario Assumptions
 
@@ -255,7 +252,7 @@ Current scenario assumptions are:
 - each axis command is converted into Basilisk thruster on-time requests over the bridge's
   `100 ms` timer period
 
-## Current Runtime Requirements and Blockers
+## Validated Runtime Record
 
 The current backend requires:
 
@@ -264,9 +261,23 @@ The current backend requires:
   `external_sim_bridge`
 - launch via `external_sim_bridge/launch/bridge_sim.launch.py` or direct `ros2 run`
 
-Known current blockers and gaps:
+Authoritative validation environment:
+
+- GitHub Actions workflow `.github/workflows/validate-external-sim-bridge.yml`
+- base runtime `ghcr.io/accommodus/astro:latest`
+- Basilisk runtime pin `bsk==2.10.0`
+- CI guard `ASTRO_EXPECT_BASILISK=1` so Basilisk tests fail if the runtime is absent
+
+Live validation performed in the authoritative environment:
+
+- direct Basilisk backend smoke coverage in `test/test_basilisk_backend.py`
+- end-to-end bridge launch coverage in `test/test_bridge_basilisk_launch.py`
+- fake-backend parity coverage against the installed canonical `distributed_satellite_sim`
+  trajectory fixture in `test/test_bridge_reference_launch.py`
+
+Remaining limitations:
 
-- the active workspace used for implementation does not have Basilisk installed
-- the backend therefore has startup validation only, not a live end-to-end Basilisk smoke test
-- the exact Basilisk release to support still needs to be pinned and tested as a single runtime
-  source of truth
+- the Basilisk validation scenario is still the fixed internal
+  `translational_3dof_axis_thrusters` bridge scenario, not a full HCW-equivalent model
+- local development environments that do not install Basilisk will skip the Basilisk-specific
+  tests by default
diff --git a/src/external_sim_bridge/setup.py b/src/external_sim_bridge/setup.py
index cbff7e1..7f0f69b 100644
--- a/src/external_sim_bridge/setup.py
+++ b/src/external_sim_bridge/setup.py
@@ -19,12 +19,10 @@
                 'test/test_fake_backend.py',
                 'test/test_bridge_node.py',
                 'test/test_bridge_reference_launch.py',
+                'test/test_basilisk_backend.py',
+                'test/test_bridge_basilisk_launch.py',
             ],
         ),
-        (
-            f'share/{package_name}/test/data',
-            ['test/data/dlqr_reference_trajectory.csv'],
-        ),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/src/external_sim_bridge/test/data/dlqr_reference_trajectory.csv b/src/external_sim_bridge/test/data/dlqr_reference_trajectory.csv
deleted file mode 100644
index e33bbf4..0000000
--- a/src/external_sim_bridge/test/data/dlqr_reference_trajectory.csv
+++ /dev/null
@@ -1,91 +0,0 @@
-21.474377061136369,2.292875120797660,21.081978135884185,-0.001232341729441,-0.050158638812040,-0.002059582195653
-16.235280829810684,-12.626303436833686,17.897073550814067,-0.026227831720655,-0.029245513266003,-0.015377821951063
-6.486265440934633,-17.928792370983569,11.604173281188201,-0.026246256566643,-0.000210193261359,-0.019075908867384
--0.921495986127911,-14.657820888936183,5.126211415129908,-0.014339968125821,0.016724520136396,-0.016391037186507
--3.849430758681117,-7.964165980281448,0.167265629767840,-0.002345851112268,0.018792486112254,-0.010759271242311
--3.380891646081291,-2.214866308767135,-2.687034547248812,0.004150239405856,0.012243603636776,-0.004868068419918
--1.591165474919844,0.791424514717339,-3.632177709694075,0.005122266877151,0.004322674674491,-0.000306605690358
--0.043614681468529,1.374181850224460,-3.257640824468955,0.003134742848019,-0.000808406882247,0.002357201198349
-0.664617082282504,0.729638777597417,-2.228566701235212,0.000743898443748,-0.002439505804749,0.003276996280556
-0.657906206414624,-0.073743443877466,-1.086264874954650,-0.000696980811848,-0.001823112190483,0.002977124704970
-0.330971721040675,-0.508581945651428,-0.166113575865198,-0.001020720543594,-0.000547582318208,0.002060718548973
-0.015329011059273,-0.530645138707978,0.397375313967736,-0.000680298454477,0.000377611359071,0.001024392242183
--0.143237538571929,-0.329236505905397,0.617328280461929,-0.000197655023774,0.000674126056910,0.000179853809020
--0.152863852920315,-0.105741122595624,0.587311293554424,0.000120831878710,0.000523171378039,-0.000344197298124
--0.088233598208714,0.031500529500849,0.423053791634292,0.000212536717138,0.000226513992327,-0.000555115183179
--0.019092823861825,0.070106967906883,0.223842397382815,0.000156163687870,-0.000004184846688,-0.000535570424320
-0.020151822277853,0.048841001418285,0.054748201126866,0.000057963862955,-0.000100286848925,-0.000390223036746
-0.027637660377120,0.012405480178353,-0.054875140357848,-0.000013439959627,-0.000092191013124,-0.000209966531991
-0.017362253957798,-0.012388246937803,-0.103289119715632,-0.000039136555874,-0.000041974125598,-0.000055100788509
-0.004024606637649,-0.019278778224219,-0.104852444897458,-0.000031964748966,0.000002694850871,0.000046541557838
--0.004266674868684,-0.014181831153614,-0.079453435073491,-0.000013271501684,0.000023018822655,0.000092518431997
--0.006230665384917,-0.005674057243120,-0.045130586172460,0.000001765353938,0.000022152975767,0.000095399721206
--0.004303784126565,0.000578215803262,-0.014351205462328,0.000007952564771,0.000011720416460,0.000073117886306
--0.001463175685113,0.002967409253729,0.006702437549975,0.000007115515519,0.000001669424568,0.000042151149912
-0.000480705384147,0.002534796430046,0.016962350857774,0.000003425527393,-0.000003559064543,0.000014022041491
-0.001112578343366,0.001061489667573,0.018528740408490,0.000000152452438,-0.000004170256100,-0.000005446033351
-0.000855998414737,-0.000162854126861,0.014772089186698,-0.000001395657131,-0.000002416107405,-0.000015121692885
-0.000320885002231,-0.000676263216993,0.008938341191861,-0.000001430148236,-0.000000431363051,-0.000016818171799
--0.000084269762665,-0.000610022086421,0.003389079963565,-0.000000760233584,0.000000706095743,-0.000013564123234
--0.000235393091205,-0.000302536431028,-0.000607687484002,-0.000000087671257,0.000000908515668,-0.000008318243224
--0.000196770752819,-0.000025539625252,-0.002722033057431,0.000000265986983,0.000000581114914,-0.000003257833008
--0.000088227219720,0.000109222545469,-0.003238751759931,0.000000304924340,0.000000162142484,0.000000428789750
-0.000001842616754,0.000116751578098,-0.002719870958324,0.000000180314705,-0.000000102964871,0.000002412091037
-0.000041380523015,0.000063424998307,-0.001743749380732,0.000000039055105,-0.000000173626043,0.000002932190398
-0.000039395852415,0.000008031988677,-0.000753018135335,-0.000000043459497,-0.000000122624223,0.000002492079204
-0.000019523911640,-0.000021750412277,-0.000002369227561,-0.000000060305606,-0.000000040488042,0.000001617735714
-0.000000974234777,-0.000025489667143,0.000423940411196,-0.000000039256040,0.000000016783630,0.000000716316457
--0.000008122836629,-0.000015385146913,0.000559435231812,-0.000000010888854,0.000000035402972,0.000000025519878
--0.000008538715507,-0.000003624410311,0.000496032772930,0.000000007362721,0.000000027393249,-0.000000372649367
--0.000004748239115,0.000003391380662,0.000335724111448,0.000000012314101,0.000000010893977,-0.000000505043149
--0.000000801535449,0.000004950656525,0.000160645034296,0.000000008806165,-0.000000001742916,-0.000000453517632
-0.000001364282241,0.000003293209478,0.000021080047797,0.000000003064056,-0.000000006665637,-0.000000310602928
-0.000001698521967,0.000000957630118,-0.000063356065400,-0.000000000998119,-0.000000005744219,-0.000000151686158
-0.000001040568890,-0.000000577239587,-0.000095359510000,-0.000000002377098,-0.000000002590837,-0.000000023533219
-0.000000242067852,-0.000001015155690,-0.000089603810618,-0.000000001878888,0.000000000088603,0.000000055045766
--0.000000241501604,-0.000000740604133,-0.000063876663961,-0.000000000758473,0.000000001280685,0.000000085810778
--0.000000351003668,-0.000000267579503,-0.000033272683170,0.000000000115983,0.000000001225477,0.000000081746512
--0.000000236583113,0.000000073921247,-0.000007575060745,0.000000000463499,0.000000000623364,0.000000058948387
--0.000000073150011,0.000000194428025,0.000008897841463,0.000000000404719,0.000000000054302,0.000000031241020
-0.000000035806373,0.000000157127238,0.000016009509005,0.000000000187164,-0.000000000231238,0.000000007695475
-0.000000068497989,0.000000065392334,0.000016029302559,-0.000000000000572,-0.000000000252262,-0.000000007587105
-0.000000050912271,-0.000000007781194,0.000012022117856,-0.000000000086073,-0.000000000142353,-0.000000014352296
-0.000000018673079,-0.000000037776737,0.000006735679242,-0.000000000084417,-0.000000000024519,-0.000000014591041
--0.000000004998987,-0.000000033755994,0.000002049002385,-0.000000000043666,0.000000000041183,-0.000000011068591
--0.000000013529978,-0.000000016014526,-0.000001122621297,-0.000000000004297,0.000000000051900,-0.000000006296100
--0.000000011073868,-0.000000000349568,-0.000002639913351,0.000000000015811,0.000000000032328,-0.000000002011098
--0.000000004733099,0.000000006973609,-0.000002838611662,0.000000000017576,0.000000000008110,0.000000000923222
-0.000000000397924,0.000000007021436,-0.000002239683610,0.000000000010093,-0.000000000006803,0.000000002355919
-0.000000002554019,0.000000003717763,-0.000001338543713,0.000000000001904,-0.000000000010411,0.000000002577836
-0.000000002330667,0.000000000442556,-0.000000491918470,-0.000000000002743,-0.000000000007138,0.000000002057451
-0.000000001124219,-0.000000001270033,0.000000111548094,-0.000000000003572,-0.000000000002261,0.000000001246539
-0.000000000038473,-0.000000001456203,0.000000425828069,-0.000000000002262,0.000000000001044,0.000000000474149
--0.000000000478228,-0.000000000854325,0.000000497314260,-0.000000000000591,0.000000000002067,-0.000000000082761
--0.000000000489611,-0.000000000175402,0.000000413183772,0.000000000000455,0.000000000001559,-0.000000000377855
--0.000000000263834,0.000000000218211,0.000000261889161,0.000000000000719,0.000000000000590,-0.000000000450486
--0.000000000035937,0.000000000295222,0.000000110432020,0.000000000000501,-0.000000000000132,-0.000000000378744
-0.000000000085322,0.000000000190856,-0.000000003148275,0.000000000000164,-0.000000000000401,-0.000000000243110
-0.000000000100470,0.000000000052757,-0.000000066773849,-0.000000000000067,-0.000000000000334,-0.000000000105241
-0.000000000059873,-0.000000000035503,-0.000000086118198,-0.000000000000142,-0.000000000000146,-0.000000000000669
-0.000000000012941,-0.000000000059196,-0.000000075499862,-0.000000000000109,0.000000000000010,0.000000000058805
--0.000000000014701,-0.000000000042095,-0.000000050550707,-0.000000000000042,0.000000000000076,0.000000000077792
--0.000000000020433,-0.000000000014377,-0.000000023728653,0.000000000000008,0.000000000000071,0.000000000069059
--0.000000000013411,0.000000000005112,-0.000000002568483,0.000000000000027,0.000000000000035,0.000000000046793
--0.000000000003861,0.000000000011622,0.000000010075986,0.000000000000023,0.000000000000002,0.000000000022435
-0.000000000002337,0.000000000009110,0.000000014721082,0.000000000000010,-0.000000000000014,0.000000000002997
-0.000000000004070,0.000000000003652,0.000000013665007,-0.000000000000000,-0.000000000000015,-0.000000000008779
-0.000000000002940,-0.000000000000575,0.000000009640373,-0.000000000000005,-0.000000000000008,-0.000000000013256
-0.000000000001032,-0.000000000002241,0.000000004941122,-0.000000000000005,-0.000000000000001,-0.000000000012472
--0.000000000000331,-0.000000000001946,0.000000001037337,-0.000000000000002,0.000000000000003,-0.000000000008901
--0.000000000000799,-0.000000000000891,-0.000000001436669,-0.000000000000000,0.000000000000003,-0.000000000004644
--0.000000000000636,0.000000000000013,-0.000000002479592,0.000000000000001,0.000000000000002,-0.000000000001066
--0.000000000000261,0.000000000000421,-0.000000002449452,0.000000000000001,0.000000000000000,0.000000000001231
-0.000000000000034,0.000000000000409,-0.000000001818302,0.000000000000001,-0.000000000000000,0.000000000002225
-0.000000000000153,0.000000000000210,-0.000000001004525,0.000000000000000,-0.000000000000001,0.000000000002231
-0.000000000000135,0.000000000000020,-0.000000000291181,-0.000000000000000,-0.000000000000000,0.000000000001675
-0.000000000000063,-0.000000000000077,0.000000000186374,-0.000000000000000,-0.000000000000000,0.000000000000940
-0.000000000000000,-0.000000000000085,0.000000000410488,-0.000000000000000,0.000000000000000,0.000000000000287
--0.000000000000029,-0.000000000000048,0.000000000434684,-0.000000000000000,0.000000000000000,-0.000000000000155
--0.000000000000028,-0.000000000000009,0.000000000339434,0.000000000000000,0.000000000000000,-0.000000000000367
--0.000000000000015,0.000000000000013,0.000000000200322,0.000000000000000,0.000000000000000,-0.000000000000395
--0.000000000000002,0.000000000000017,0.000000000071209,0.000000000000000,-0.000000000000000,-0.000000000000312
diff --git a/src/external_sim_bridge/test/test_basilisk_backend.py b/src/external_sim_bridge/test/test_basilisk_backend.py
new file mode 100644
index 0000000..58e69f5
--- /dev/null
+++ b/src/external_sim_bridge/test/test_basilisk_backend.py
@@ -0,0 +1,56 @@
+import math
+import os
+import unittest
+
+from external_sim_bridge.backends.basilisk_backend import BasiliskBackend
+
+
+EXPECT_BASILISK = os.environ.get('ASTRO_EXPECT_BASILISK') == '1'
+
+try:
+    import Basilisk  # noqa: F401
+except ModuleNotFoundError as error:
+    BASILISK_AVAILABLE = False
+    BASILISK_IMPORT_ERROR = error
+else:
+    BASILISK_AVAILABLE = True
+    BASILISK_IMPORT_ERROR = None
+
+
+if EXPECT_BASILISK and not BASILISK_AVAILABLE:
+    raise AssertionError(
+        'ASTRO_EXPECT_BASILISK=1 but the Basilisk runtime is not importable: '
+        f'{BASILISK_IMPORT_ERROR}'
+    )
+
+
+@unittest.skipUnless(BASILISK_AVAILABLE, 'Basilisk runtime is not installed')
+class BasiliskBackendSmokeTest(unittest.TestCase):
+    def _assert_state_vector(self, state) -> None:
+        self.assertEqual(len(state), 6)
+        for value in state:
+            self.assertTrue(math.isfinite(float(value)))
+
+    def _rollout(self, control, steps: int = 3):
+        backend = BasiliskBackend()
+        backend.initialize()
+        backend.apply_control(control)
+
+        state = None
+        for _ in range(steps):
+            state = backend.advance()
+
+        self.assertIsNotNone(state)
+        self._assert_state_vector(state)
+        return state
+
+    def test_zero_control_rollout_returns_finite_state(self):
+        state = self._rollout([0.0, 0.0, 0.0])
+        self.assertGreater(state[0], 0.0)
+
+    def test_positive_x_control_increases_x_position_and_velocity(self):
+        zero_state = self._rollout([0.0, 0.0, 0.0])
+        positive_x_state = self._rollout([0.5, 0.0, 0.0])
+
+        self.assertGreater(positive_x_state[0], zero_state[0])
+        self.assertGreater(positive_x_state[3], zero_state[3])
diff --git a/src/external_sim_bridge/test/test_bridge_basilisk_launch.py b/src/external_sim_bridge/test/test_bridge_basilisk_launch.py
new file mode 100644
index 0000000..3f82a92
--- /dev/null
+++ b/src/external_sim_bridge/test/test_bridge_basilisk_launch.py
@@ -0,0 +1,164 @@
+#!/usr/bin/env python3
+
+import math
+import os
+import time
+import unittest
+
+from ament_index_python.packages import get_package_share_directory
+import launch
+from launch.actions import EmitEvent
+from launch.actions import IncludeLaunchDescription
+from launch.actions import TimerAction
+from launch.events import Shutdown
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+import launch_testing
+import launch_testing.actions
+import launch_testing.asserts
+import pytest
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import QoSProfile
+from std_msgs.msg import Float64MultiArray
+
+
+EXPECT_BASILISK = os.environ.get('ASTRO_EXPECT_BASILISK') == '1'
+
+try:
+    import Basilisk  # noqa: F401
+except ModuleNotFoundError as error:
+    BASILISK_AVAILABLE = False
+    BASILISK_IMPORT_ERROR = error
+else:
+    BASILISK_AVAILABLE = True
+    BASILISK_IMPORT_ERROR = None
+
+
+if EXPECT_BASILISK and not BASILISK_AVAILABLE:
+    raise AssertionError(
+        'ASTRO_EXPECT_BASILISK=1 but the Basilisk runtime is not importable: '
+        f'{BASILISK_IMPORT_ERROR}'
+    )
+
+
+EXPECTED_STEPS = 5
+STATE_SIZE = 6
+SHUTDOWN_AFTER_SEC = 15.0
+RECEIVE_TIMEOUT_SEC = 12.0
+DISCOVERY_TIMEOUT_SEC = 10.0
+
+
+class BasiliskTrajectoryRecorder(Node):
+    def __init__(self):
+        super().__init__('basilisk_bridge_trajectory_recorder')
+        self.trajectory = []
+        self.subscription = self.create_subscription(
+            Float64MultiArray,
+            'env_data',
+            self._callback,
+            QoSProfile(depth=100),
+        )
+
+    def _callback(self, msg):
+        self.trajectory.append(list(msg.data))
+
+
+if BASILISK_AVAILABLE:
+
+    @pytest.mark.rostest
+    def generate_test_description():
+        package_share = get_package_share_directory('external_sim_bridge')
+        launch_path = os.path.join(package_share, 'launch', 'bridge_sim.launch.py')
+
+        bridge_launch = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(launch_path),
+            launch_arguments={
+                'backend_type': 'basilisk',
+                'max_steps': str(EXPECTED_STEPS),
+                'min_subscribers': '2',
+            }.items(),
+        )
+
+        return (
+            launch.LaunchDescription([
+                launch_testing.actions.ReadyToTest(),
+                bridge_launch,
+                TimerAction(
+                    period=SHUTDOWN_AFTER_SEC,
+                    actions=[EmitEvent(event=Shutdown(reason='basilisk bridge validation complete'))],
+                ),
+            ]),
+            {},
+        )
+
+
+    class TestBasiliskBridgeLaunch(unittest.TestCase):
+        @classmethod
+        def setUpClass(cls):
+            if not rclpy.ok():
+                rclpy.init()
+            cls.recorder = BasiliskTrajectoryRecorder()
+
+        @classmethod
+        def tearDownClass(cls):
+            cls.recorder.destroy_node()
+            if rclpy.ok():
+                rclpy.shutdown()
+
+        def test_basilisk_bridge_publishes_finite_state_trajectory(self):
+            discovery_deadline = time.monotonic() + DISCOVERY_TIMEOUT_SEC
+            while (
+                self.recorder.count_publishers('env_data') == 0
+                and time.monotonic() < discovery_deadline
+            ):
+                rclpy.spin_once(self.recorder, timeout_sec=0.1)
+
+            self.assertGreater(
+                self.recorder.count_publishers('env_data'),
+                0,
+                'env_data publisher was not discovered within timeout',
+            )
+
+            deadline = time.monotonic() + RECEIVE_TIMEOUT_SEC
+            while (
+                len(self.recorder.trajectory) < EXPECTED_STEPS
+                and time.monotonic() < deadline
+            ):
+                rclpy.spin_once(self.recorder, timeout_sec=0.1)
+
+            received = len(self.recorder.trajectory)
+            self.assertEqual(
+                received,
+                EXPECTED_STEPS,
+                f'Expected {EXPECTED_STEPS} env_data messages, received {received}',
+            )
+
+            saw_motion = False
+            previous_state = None
+            for step, state in enumerate(self.recorder.trajectory):
+                self.assertEqual(
+                    len(state),
+                    STATE_SIZE,
+                    f'Trajectory row {step} should contain {STATE_SIZE} state values',
+                )
+                for index, value in enumerate(state):
+                    self.assertTrue(
+                        math.isfinite(float(value)),
+                        f'Trajectory row {step} state[{index}] must be finite',
+                    )
+
+                if previous_state is not None and any(
+                    abs(current - previous) > 1e-9
+                    for current, previous in zip(state, previous_state)
+                ):
+                    saw_motion = True
+
+                previous_state = state
+
+            self.assertTrue(saw_motion, 'Basilisk launch trajectory did not change between steps')
+
+
+    @launch_testing.post_shutdown_test()
+    class TestBasiliskBridgeShutdown(unittest.TestCase):
+        def test_all_processes_exit_zero(self, proc_info):
+            launch_testing.asserts.assertExitCodes(proc_info)
diff --git a/src/external_sim_bridge/test/test_bridge_reference_launch.py b/src/external_sim_bridge/test/test_bridge_reference_launch.py
index 746c076..da830ea 100644
--- a/src/external_sim_bridge/test/test_bridge_reference_launch.py
+++ b/src/external_sim_bridge/test/test_bridge_reference_launch.py
@@ -22,7 +22,7 @@
 from std_msgs.msg import Float64MultiArray
 
 REFERENCE_FIXTURE_PATH = os.path.join(
-    get_package_share_directory('external_sim_bridge'),
+    get_package_share_directory('distributed_satellite_sim'),
     'test',
     'data',
     'dlqr_reference_trajectory.csv',
@@ -99,13 +99,15 @@ def generate_test_description():
 class TestBridgeReferenceTrajectory(unittest.TestCase):
     @classmethod
     def setUpClass(cls):
-        rclpy.init()
+        if not rclpy.ok():
+            rclpy.init()
         cls.recorder = TrajectoryRecorder()
 
     @classmethod
     def tearDownClass(cls):
         cls.recorder.destroy_node()
-        rclpy.shutdown()
+        if rclpy.ok():
+            rclpy.shutdown()
 
     def test_bridge_ros_trajectory_matches_reference(self):
         reference_trajectory = _load_reference_trajectory()

From 7b2209ff252480d51d3ebfab962aec5fcd3c44c3 Mon Sep 17 00:00:00 2001
From: Dylan <dylan1120long@gmail.com>
Date: Tue, 21 Apr 2026 13:28:10 -0400
Subject: [PATCH 7/7] fix: basilisk backend timestamps

---
 .../backends/basilisk_backend.py              | 12 +++++-
 .../test/test_bridge_basilisk_launch.py       | 37 ++++++++++++++++++-
 2 files changed, 45 insertions(+), 4 deletions(-)

diff --git a/src/external_sim_bridge/external_sim_bridge/backends/basilisk_backend.py b/src/external_sim_bridge/external_sim_bridge/backends/basilisk_backend.py
index b995202..344a5ba 100644
--- a/src/external_sim_bridge/external_sim_bridge/backends/basilisk_backend.py
+++ b/src/external_sim_bridge/external_sim_bridge/backends/basilisk_backend.py
@@ -101,7 +101,13 @@ def validate_control(self, control: Sequence[float]) -> None:
     def apply_control(self, control: Sequence[float]) -> None:
         self.validate_control(control)
         self._control = [float(value) for value in control]
-        self._thruster_command_msg.write(self._build_thruster_payload(self._control_to_on_times()))
+        # Basilisk treats later writes with the default timestamp of 0 ns as stale once the
+        # simulation has advanced. Stamp each command at the current simulation time so
+        # post-start actuation updates are consumed on the next integration step.
+        self._thruster_command_msg.write(
+            self._build_thruster_payload(self._control_to_on_times()),
+            self._current_stop_time_ns,
+        )
 
     def advance(self) -> list[float]:
         if self._step_period_ns is None:
@@ -196,6 +202,8 @@ def _control_to_on_times(self) -> list[float]:
 
     def _build_thruster_payload(self, on_times: Sequence[float]) -> Any:
         payload = self._messaging.THRArrayOnTimeCmdMsgPayload()
+        requested_on_times = list(payload.OnTimeRequest)
         for index, on_time in enumerate(on_times):
-            payload.OnTimeRequest[index] = float(on_time)
+            requested_on_times[index] = float(on_time)
+        payload.OnTimeRequest = requested_on_times
         return payload
diff --git a/src/external_sim_bridge/test/test_bridge_basilisk_launch.py b/src/external_sim_bridge/test/test_bridge_basilisk_launch.py
index 3f82a92..857068e 100644
--- a/src/external_sim_bridge/test/test_bridge_basilisk_launch.py
+++ b/src/external_sim_bridge/test/test_bridge_basilisk_launch.py
@@ -46,6 +46,7 @@
 SHUTDOWN_AFTER_SEC = 15.0
 RECEIVE_TIMEOUT_SEC = 12.0
 DISCOVERY_TIMEOUT_SEC = 10.0
+CONTROL_EFFECT_TOLERANCE = 1e-6
 
 
 class BasiliskTrajectoryRecorder(Node):
@@ -64,6 +65,7 @@ def _callback(self, msg):
 
 
 if BASILISK_AVAILABLE:
+    from external_sim_bridge.backends.basilisk_backend import BasiliskBackend
 
     @pytest.mark.rostest
     def generate_test_description():
@@ -98,6 +100,7 @@ def setUpClass(cls):
             if not rclpy.ok():
                 rclpy.init()
             cls.recorder = BasiliskTrajectoryRecorder()
+            cls.zero_control_trajectory = cls._build_zero_control_trajectory()
 
         @classmethod
         def tearDownClass(cls):
@@ -105,7 +108,18 @@ def tearDownClass(cls):
             if rclpy.ok():
                 rclpy.shutdown()
 
-        def test_basilisk_bridge_publishes_finite_state_trajectory(self):
+        @staticmethod
+        def _build_zero_control_trajectory():
+            backend = BasiliskBackend()
+            backend.initialize()
+            backend.apply_control([0.0, 0.0, 0.0])
+
+            trajectory = []
+            for _ in range(EXPECTED_STEPS):
+                trajectory.append(backend.advance())
+            return trajectory
+
+        def test_basilisk_bridge_closed_loop_affects_state_trajectory(self, proc_output):
             discovery_deadline = time.monotonic() + DISCOVERY_TIMEOUT_SEC
             while (
                 self.recorder.count_publishers('env_data') == 0
@@ -133,9 +147,17 @@ def test_basilisk_bridge_publishes_finite_state_trajectory(self):
                 f'Expected {EXPECTED_STEPS} env_data messages, received {received}',
             )
 
+            proc_output.assertWaitFor(
+                'actuation_cmd received',
+                timeout=DISCOVERY_TIMEOUT_SEC,
+            )
+
             saw_motion = False
+            saw_closed_loop_divergence = False
             previous_state = None
-            for step, state in enumerate(self.recorder.trajectory):
+            for step, (state, baseline_state) in enumerate(
+                zip(self.recorder.trajectory, self.zero_control_trajectory)
+            ):
                 self.assertEqual(
                     len(state),
                     STATE_SIZE,
@@ -147,6 +169,12 @@ def test_basilisk_bridge_publishes_finite_state_trajectory(self):
                         f'Trajectory row {step} state[{index}] must be finite',
                     )
 
+                if step > 0 and any(
+                    abs(actual - baseline) > CONTROL_EFFECT_TOLERANCE
+                    for actual, baseline in zip(state, baseline_state)
+                ):
+                    saw_closed_loop_divergence = True
+
                 if previous_state is not None and any(
                     abs(current - previous) > 1e-9
                     for current, previous in zip(state, previous_state)
@@ -156,6 +184,11 @@ def test_basilisk_bridge_publishes_finite_state_trajectory(self):
                 previous_state = state
 
             self.assertTrue(saw_motion, 'Basilisk launch trajectory did not change between steps')
+            self.assertTrue(
+                saw_closed_loop_divergence,
+                'Launched Basilisk trajectory never diverged from the zero-control baseline; '
+                'the actuation path may not have affected the simulator state',
+            )
 
 
     @launch_testing.post_shutdown_test()