  Developing and testing novel control and motion planning algorithms for
aerial vehicles can be a challenging task, with the robotics community relying
more than ever on 3D simulation technologies to evaluate the performance of new
algorithms in a variety of conditions and environments. In this work, we
introduce the Pegasus Simulator, a modular framework implemented as an NVIDIA
Isaac Sim extension that enables real-time simulation of multiple multirotor
vehicles in photo-realistic environments, while providing out-of-the-box
integration with the widely adopted PX4-Autopilot and ROS2 through its modular
implementation and intuitive graphical user interface. To demonstrate some of
its capabilities, a nonlinear controller was implemented and simulation results
for two drones performing aggressive flight maneuvers are presented. Code and
documentation for this framework are also provided as supplementary material.
