ROS Index
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_examples | |
| mavros_extras |
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_examples | |
| mavros_extras |
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_examples | |
| mavros_extras |
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_examples | |
| mavros_extras |
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_examples | |
| mavros_extras |
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_examples | |
| mavros_extras |
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-09-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh
ros2 launch mavros px4.launch
Documentation
Links
- MAVLink – The communication protocol for drones, used by flight controllers, ground control stations, and peripherals
- Pixhawk – Open standards for drone hardware
- PX4 Autopilot – Flight controller with support for most vehicle types and hardened/tested MAVROS support
- ArduPilot – tested autopilot stack (ArduPlane, ArduCopter, ArduRover, …)
- QGroundControl – Ground Control Station for MAVLink autopilots
- mavros_extras – extra plugins & nodes for mavros
CHANGELOG
Changelog for package mavros
2.16.0 (2026-09-27)
- Merge pull request #2307 from webzuweb/fix/respawn-mavros-param fix(launch): wire up respawn_mavros arg in node.launch
- Merge pull request #2309 from mavlink/fix/plugin-param-sources-2294 mavros: re-apply process parameter sources to plugin sub-nodes (#2294)
- mavros: re-apply process parameter sources to plugin sub-nodes Since 63f7392 plugin nodes are created with use_global_arguments(false) so that a component container's [-r __node:=<container>]{.title-ref} remap rule does not rename every plugin. But NodeOptions has no remap-only switch: global arguments also carry the process parameter sources (--params-file / -p), so every [/**/<plugin>:]{.title-ref} section of apm_config.yaml / px4_config.yaml was silently dropped and plugins fell back to their compiled-in defaults. Resolve the process parameter overrides for the plugin's fully-qualified name and hand them to the node as local parameter_overrides, which are unaffected by use_global_arguments(false) and carry no remap rules. This mirrors rclcpp's resolve_parameter_overrides() precedence: global sources first, then the caller-provided overrides. Fixes #2294.
- fix(launch): wire up respawn_mavros arg in node.launch The node.launch declares a [respawn_mavros]{.title-ref} argument (default false) but never passes it to the node, so it has no effect. Add respawn="$(var respawn_mavros)" to the mavros_node node so the argument actually controls respawning. Closes #2297
- Merge pull request #2291 from okalachev/flix-modes Add mode parser for Flix autopilot
- Change mode parser so CUSTOM_MODE_ENABLED flag is not required for custom mode parsing
- Add mode parser for Flix autopilot
- Merge pull request #2261 from Daniiiil1/codex/fix-fake-gps-ned-velocity Fix fake GPS velocity frame and COG units
- extras: move fake GPS velocity/course helpers to frame_tf Move calculate_velocity_ned() and course_over_ground_cdeg() into the generic mavros::ftf helpers and drop the fake_gps_utils.hpp shim and its dedicated test target. The fake GPS velocity and course tests now live in the existing libmavros-frame-conversions test.
- Merge pull request #2289 from mavlink/check-cbg plugins: fix cmd/command service deadlocks and const shared_ptr deprecation warnings
- mavros: run home position callbacks in a dedicated group (fix #2285) Both req_update_cb (service) and timeout_cb (poll timer) call call_get_home_position(), which blocks on future.get() from a throwaway cmd/command client in the default MutuallyExclusive group. Since the callers also ran in that group, the client response callback could never be scheduled, deadlocking the service and stalling the poll timer. Bind update_srv and poll_timer to their own callback group so the callers and the client response run in disjoint groups.
- Contributors: Oleg Kalachev, Vladimir Ermakov, webzuweb
2.15.1 (2026-08-22)
- mavros: fix duplicated namespace in launch files Fix #2262 by defaulting the launch namespace to empty, since plugin subnodes now properly inherit the UAS namespace.
- Merge pull request #2260 from mavlink/fix-deprecations Fix deprecations
- mavros: fix deprecated subscription callback signatures rclcpp deprecates callbacks taking non-const std::shared_ptr<MessageT>. Convert topic subscription callbacks to MessageT::ConstSharedPtr, and the Mavlink router/UAS bus to MessageT::UniquePtr (matching the zero-copy make_unique publisher).
- mavros: add StateQoS and use it for state publications Add a named StateQoS profile (QoS(10).transient_local()) and use it in sys_status and home_position instead of an inline state_qos. Regenerate the plugin docs.
- docs: restructure node docs and refresh links Move mavros README content into docs/ (connection URLs, frames, nodes, troubleshooting), reduce package READMEs to GitHub overviews, add mermaid diagrams, and refresh docs.ros.org references to Lyrical.
- Contributors: Vladimir Ermakov
2.15.0 (2026-08-08)
-
Merge pull request #2259 from mavlink/docs-refresh docs: refresh, refactor extractor
-
cog: re-generate all
-
mavros: clean up README links Fix the broken inline Pixhawk link, point the mavlink dependency at mavlink.io instead of the dead wiki.ros.org page, drop unused link references (catkin, shadow,
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_examples | |
| mavros_extras |
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/apm_with_terrain.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- terrain_data_path [default: ]
- terrain_auto_download [default: false]
- terrain_srtm_data_url [default: https://terrain.ardupilot.org]
- terrain_proxy [default: ]
- terrain_srtm_source [default: SRTM3]
- terrain_send_rate_hz [default: 5.0]
- terrain_max_cache_tiles [default: 64]
- launch/multi_uas.launch
-
- id [default: 0]
- fcu_url [default: udp://:14540@127.0.0.1:14580]
- id [default: 1]
- fcu_url [default: udp://:14541@127.0.0.1:14581]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- namespace [default: ]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_extras mavros_msgs test_mavros |
ROS Distro
|
Package Summary
| Version | 1.21.1 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-12-12 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. [QGroundControl][qgc]).
ROS API documentation moved to [wiki.ros.org][wiki].
Features
- Communication with autopilot via serial port, UDP or TCP (e.g. [PX4 Pro][px4] or [ArduPilot][apm])
- Internal proxy for Ground Control Station (serial, UDP, TCP)
- Plugin system for ROS-MAVLink translation
- Parameter manipulation tool
- Waypoint manipulation tool
- PX4Flow support (by [mavros_extras][mrext])
- OFFBOARD mode support
- Geographic coordinates conversions.
Limitations
Only for Linux. Depends on [Boost library][boost], GCC 4.8+ (C++11 support). Catkin build system required.
This package are dependent on [ros-*-mavlink][mlwiki] build from [mavlink-gbp-release][mlgbp]. It exists in ROS package index and usually updates each month.
Connection URL
Connection defined by URL, you can use any supported type for FCU and GCS.
Supported schemas:
- Serial:
/path/to/serial/device[:baudrate] - Serial:
serial:///path/to/serial/device[:baudrate][?ids=sysid,compid] - Serial with hardware flow control:
serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid] - UDP:
udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid] - UDP broadcast until GCS discovery:
udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid] - UDP broadcast (permanent):
udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid] - TCP client:
tcp://[server_host][:port][/?ids=sysid,compid] - TCP server:
tcp-l://[bind_host][:port][/?ids=sysid,compid]
Note:
- Ids from URL overrides value given by system_id & component_id parameters.
- bind_host - default
0.0.0.0- i.e. IP4 ANY - UDP default ports: 14555 @ 14550
- UDP remote address updated every time with incoming packet on bind port.
- TCP default port: 5760
Coordinate frames
MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.
All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.
Related issues: [#49 (outdated)][iss49], [#216 (outdated)][iss216], [#317 (outdated)][iss317], [#319 (outdated)][iss319], [#321 (outdated)][iss321], [#473][iss473]. Documents: [Frame Conversions][iss473rfc], [Mavlink coordinate frames][iss473table].
MAVROS also allows conversion of geodetic and geocentric coordinates through [GeographicLib][geolib] given that:
-
geographic_msgsandNatSatFix.msgrequire the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins; - According to ROS REP 105, the
earthframe should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates; - The translation from GPS coordinates to local geocentric coordinates require the definition
of a local origin on the
mapframe, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in theglobal_positionplugin.
Programs
mavros_node – main communication node
Main node. Allow disable GCS proxy by setting empty URL.
Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):
rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1
gcs_bridge – additional proxy
Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package mavros
1.21.1 (2025-12-12)
- Handling empty trajectory message
- Contributors: Mihir Dharmadhikari
1.21.0 (2025-09-08)
- regenerate all
- tools: move scripts to use with uv add uncrustify helper
- Update mode 14 from LAND to AVOID_ADSB.
- Contributors: FAC94, Vladimir Ermakov
1.20.1 (2025-05-05)
1.20.0 (2024-10-10)
- add param to odom plugin
- add frame_id parameter
- Contributors: EnderMandS
1.19.0 (2024-06-06)
- gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
- Contributors: Beniamino Pozzan
1.18.0 (2024-03-03)
- sys_status.cpp: improve timeout code
- sys_status.cpp: Add a SYS_STATUS message publisher
- Contributors: Dr.-Ing. Amilcar do Carmo Lucas
1.17.0 (2023-09-09)
-
cog: regenerate all
-
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877.
* Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
-
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
-
mavros: Remove extra ';'
-
Suppress warnings from included headers
-
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol
1.16.0 (2023-05-05)
- Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
- made it such that the gp_origin topic published latched.
- Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
- use hpp instead of deprecated .h pluginlib headers
- Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov
1.15.0 (2022-12-30)
- Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
- mavros: Fix some warnings
- Contributors: Morten Fyhn Amundsen, Vladimir Ermakov
1.14.0 (2022-09-24)
- scripts: waypoint and param files are text, not binary Fix #1784
- Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
- plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_extras | |
| test_mavros |
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- launch/apm2.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- launch/mavlink_bridge.launch
-
- ns [default: iris]
- mavlink_bridge_url [default: udp://127.0.0.1:14553@127.0.0.1:14560]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- respawn_mavros [default: $(arg respawn_mavros)]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_extras mavros_msgs test_mavros |
ROS Distro
|
Package Summary
| Version | 0.17.5 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2017-02-07 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. [QGroundControl][qgc]).
ROS API documentation moved to [wiki.ros.org][wiki].
Features
- Communication with autopilot via serial port, UDP or TCP (e.g. [PX4 Pro][px4] or [ArduPilot][apm])
- Internal proxy for Ground Control Station (serial, UDP, TCP)
- [mavlink_ros][mlros] compatible ROS topics (Mavlink.msg)
- Plugin system for ROS-MAVLink translation
- Parameter manipulation tool
- Waypoint manipulation tool
- PX4Flow support (by [mavros_extras][mrext])
- OFFBOARD mode support.
Limitations
Only for linux. Depends on [Boost library][boost] >= 1.46 (hydro on 12.04). Catkin build system required (tested with ROS Hydro Medusa, Indigo Igloo and Jade Turtle).
This package are dependent on [ros-*-mavlink][mlwiki] build from [mavlink-gbp-release][mlgbp]. Since 2014-06-19 it exists in Hydro and Indigo package index (so you can install via rosdep). Since 2015-02-25 exists for Jade too.
Connection URL
Connection defined by URL, you can use any supported type for FCU and GCS.
Supported schemas:
- Serial:
/path/to/serial/device[:baudrate] - Serial:
serial:///path/to/serial/device[:baudrate][?ids=sysid,compid] - UDP:
udp://[bind_host][:port]@[remote_host][:port][/?ids=sysid,compid] - TCP client:
tcp://[server_host][:port][/?ids=sysid,compid] - TCP server:
tcp-l://[bind_host][:port][/?ids=sysid,compid]
Note:
- Ids from URL overrides value given by system_id & component_id parameters.
- bind_host - default
0.0.0.0- i.e. IP4 ANY - UDP default ports: 14555 @ 14550
- UDP remote address updated every time with incoming packet on bind port.
- TCP default port: 5760
Coordinate frames
MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° abount ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Plase read documents from issue #473 for additional information.
All the conversions are handled in src/lib/uas_frame_conversions.cpp and src/lib/uas_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.
Related issues: [#49 (outdated)][iss49], [#216 (outdated)][iss216], [#317 (outdated)][iss317], [#319 (outdated)][iss319], [#321 (outdated)][iss321], [#473][iss473]. Documents: [Frame Conversions][iss473rfc], [Mavlink coordinate frames][iss473table].
Programs
mavros_node – main communication node
Main node. Allow disable GCS proxy by setting empty URL.
Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):
rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1
gcs_bridge – additional proxy
Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.
Example (SITL & QGroundControl):
rosrun mavros mavros_node _gcs_url:='udp://:14556@172.16.254.129:14551' &
rosrun mavros gcs_bridge _gcs_url:='udp://@172.16.254.129'
Launch Files
Launch files are provided for use with common FCUs, in particular Pixhawk:
- px4.launch – for use with the PX4 Pro flight stack (for VTOL, multicopters and planes)
- apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package mavros
0.17.5 (2017-02-07)
- Pthread fix for OSX
(#650)
- fix pthread and missing defines for osx
- adapted their style using tabs
- fix elif to else
- Fixing a typo in HIL_CONTROLS plugin
- Contributors: Fadri Furrer, Pavel
0.17.4 (2016-06-23)
- Ran uncrustify on hil_controls plugin
- Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
- Added a plugin that publishes HIL_CONTROLS as ROS messages
- Revert "readme: update CI, no more MAVLINK_DIALECT" This reverts commit 1510deb2c5db12441cf9e44175fdb8a8889a8af6.
- readme: update CI, no more MAVLINK_DIALECT
- Contributors: Pavel, Vladimir Ermakov
0.17.3 (2016-05-20)
- libmavconn #543: support build with mavlink 2.0 capable mavgen
- node: Remove warning about MAVLINK_VERSION redefine
- Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
- Contributors: Justin Thomas, Vladimir Ermakov
0.17.2 (2016-04-29)
- Update README.md
- Update README.md Updated / completed examples.
- Update README.md
- Fix for kinetic std::isnan.
- Contributors: James Goppert, Lorenz Meier
0.17.1 (2016-03-28)
- lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
- Update contributing guide We forgot to mention uncrustify commit.
- Treat submarine vehicles like copter vehicles
- Contributors: Josh Villbrandt, Vladimir Ermakov
0.17.0 (2016-02-09)
- update README
- rebased with master
- Fixed ROS_BREAK
- Updates for ROS_BREAK and code style
- Nitpicks and uncrustify
- Updated frame transformations and added odom publisher to local position plugin
- Contributors: Eddy, Vladimir Ermakov, francois
0.16.6 (2016-02-04)
- node fix #494: Report FCU firmware type in rosonsole log
- scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
- Contributors: Vladimir Ermakov
0.16.5 (2016-01-11)
- scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
- node: Report mavlink package version
- lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
- readme: pixhawk dialect removed.
- Contributors: Vladimir Ermakov
0.16.4 (2015-12-14)
- scripts: checkid: be always verbose, add --follow
- scripts: fix copyright indent
- scripts: mavcmd: Fix bug: param7 not passed to service call!
- scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
- scripts: mavcmd: Add support for broadcast requests
- event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
- using timestamp from mavlink message
- Update mavlink message documentation links
- lib: update MAV_TYPE stringify
- lib: Add RATTITUDE PX4 mode
- remove "altitude_" prefix from members
- updated copyright
- implemented altitude plugin
- Contributors: Andreas Antener, Vladimir Ermakov
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_extras | |
| test_mavros | |
| rotors_hil_interface |
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- launch/apm2.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- launch/mavlink_bridge.launch
-
- ns [default: iris]
- mavlink_bridge_url [default: udp://127.0.0.1:14553@127.0.0.1:14560]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_extras mavros_msgs test_mavros |
ROS Distro
|
Package Summary
| Version | 0.17.5 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | indigo-devel |
| Last Updated | 2017-02-07 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. [QGroundControl][qgc]).
ROS API documentation moved to [wiki.ros.org][wiki].
Features
- Communication with autopilot via serial port, UDP or TCP (e.g. [PX4 Pro][px4] or [ArduPilot][apm])
- Internal proxy for Ground Control Station (serial, UDP, TCP)
- [mavlink_ros][mlros] compatible ROS topics (Mavlink.msg)
- Plugin system for ROS-MAVLink translation
- Parameter manipulation tool
- Waypoint manipulation tool
- PX4Flow support (by [mavros_extras][mrext])
- OFFBOARD mode support.
Limitations
Only for linux. Depends on [Boost library][boost] >= 1.46 (hydro on 12.04). Catkin build system required (tested with ROS Hydro Medusa, Indigo Igloo and Jade Turtle).
This package are dependent on [ros-*-mavlink][mlwiki] build from [mavlink-gbp-release][mlgbp]. Since 2014-06-19 it exists in Hydro and Indigo package index (so you can install via rosdep). Since 2015-02-25 exists for Jade too.
Connection URL
Connection defined by URL, you can use any supported type for FCU and GCS.
Supported schemas:
- Serial:
/path/to/serial/device[:baudrate] - Serial:
serial:///path/to/serial/device[:baudrate][?ids=sysid,compid] - UDP:
udp://[bind_host][:port]@[remote_host][:port][/?ids=sysid,compid] - TCP client:
tcp://[server_host][:port][/?ids=sysid,compid] - TCP server:
tcp-l://[bind_host][:port][/?ids=sysid,compid]
Note:
- Ids from URL overrides value given by system_id & component_id parameters.
- bind_host - default
0.0.0.0- i.e. IP4 ANY - UDP default ports: 14555 @ 14550
- UDP remote address updated every time with incoming packet on bind port.
- TCP default port: 5760
Coordinate frames
MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° abount ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Plase read documents from issue #473 for additional information.
All the conversions are handled in src/lib/uas_frame_conversions.cpp and src/lib/uas_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.
Related issues: [#49 (outdated)][iss49], [#216 (outdated)][iss216], [#317 (outdated)][iss317], [#319 (outdated)][iss319], [#321 (outdated)][iss321], [#473][iss473]. Documents: [Frame Conversions][iss473rfc], [Mavlink coordinate frames][iss473table].
Programs
mavros_node – main communication node
Main node. Allow disable GCS proxy by setting empty URL.
Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):
rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1
gcs_bridge – additional proxy
Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.
Example (SITL & QGroundControl):
rosrun mavros mavros_node _gcs_url:='udp://:14556@172.16.254.129:14551' &
rosrun mavros gcs_bridge _gcs_url:='udp://@172.16.254.129'
Launch Files
Launch files are provided for use with common FCUs, in particular Pixhawk:
- px4.launch – for use with the PX4 Pro flight stack (for VTOL, multicopters and planes)
- apm.launch – for use with APM flight stacks (e.g., all versions of ArduPlane, ArduCopter, etc)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package mavros
0.17.5 (2017-02-07)
- Pthread fix for OSX
(#650)
- fix pthread and missing defines for osx
- adapted their style using tabs
- fix elif to else
- Fixing a typo in HIL_CONTROLS plugin
- Contributors: Fadri Furrer, Pavel
0.17.4 (2016-06-23)
- Ran uncrustify on hil_controls plugin
- Utilizing synchronise_stamp and adding reference to MAVLINK msg documentation
- Added a plugin that publishes HIL_CONTROLS as ROS messages
- Revert "readme: update CI, no more MAVLINK_DIALECT" This reverts commit 1510deb2c5db12441cf9e44175fdb8a8889a8af6.
- readme: update CI, no more MAVLINK_DIALECT
- Contributors: Pavel, Vladimir Ermakov
0.17.3 (2016-05-20)
- libmavconn #543: support build with mavlink 2.0 capable mavgen
- node: Remove warning about MAVLINK_VERSION redefine
- Fix bug with orientation in setpoint_raw plugin Fixes a bug where the ned_desired_orientation was not actually passed into set_attitude_target. Instead, the desired_orientation (wrong frame) was passed.
- Contributors: Justin Thomas, Vladimir Ermakov
0.17.2 (2016-04-29)
- Update README.md
- Update README.md Updated / completed examples.
- Update README.md
- Fix for kinetic std::isnan.
- Contributors: James Goppert, Lorenz Meier
0.17.1 (2016-03-28)
- lib: Add QLAND mode of APM:Plane https://github.com/mavlink/mavlink/commit/a0ed95c3a7d97a8f8d86ce3f95c4bf269f439c46
- Update contributing guide We forgot to mention uncrustify commit.
- Treat submarine vehicles like copter vehicles
- Contributors: Josh Villbrandt, Vladimir Ermakov
0.17.0 (2016-02-09)
- update README
- rebased with master
- Fixed ROS_BREAK
- Updates for ROS_BREAK and code style
- Nitpicks and uncrustify
- Updated frame transformations and added odom publisher to local position plugin
- Contributors: Eddy, Vladimir Ermakov, francois
0.16.6 (2016-02-04)
- node fix #494: Report FCU firmware type in rosonsole log
- scripts fix #478: Remove guided_enable garbage. I'm missed this when do #407.
- Contributors: Vladimir Ermakov
0.16.5 (2016-01-11)
- scripts: mavwp #465: Remove WaypointGOTO from scrips and python library
- node: Report mavlink package version
- lib: Add APM:Plane QuadPlane modes. Sync with: https://github.com/mavlink/mavlink/commit/1fc4aef08a54130f297943c246f95b8c7e37b1bf
- readme: pixhawk dialect removed.
- Contributors: Vladimir Ermakov
0.16.4 (2015-12-14)
- scripts: checkid: be always verbose, add --follow
- scripts: fix copyright indent
- scripts: mavcmd: Fix bug: param7 not passed to service call!
- scripts #382: Add ID checker script. It is not complete, but i hope it helps in current state.
- scripts: mavcmd: Add support for broadcast requests
- event_launcher: fix bug: Trigger service server is not saved in Launcher Also fixes: environment variables may contain ~ (user dir) in expansion.
- using timestamp from mavlink message
- Update mavlink message documentation links
- lib: update MAV_TYPE stringify
- lib: Add RATTITUDE PX4 mode
- remove "altitude_" prefix from members
- updated copyright
- implemented altitude plugin
- Contributors: Andreas Antener, Vladimir Ermakov
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_extras | |
| test_mavros | |
| rotors_gazebo_plugins |
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- launch/apm2.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- launch/mavlink_bridge.launch
-
- ns [default: iris]
- mavlink_bridge_url [default: udp://127.0.0.1:14553@127.0.0.1:14560]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_extras |
ROS Distro
|
Package Summary
| Version | 0.8.6 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | hydro-devel |
| Last Updated | 2015-03-04 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with UDP proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. [QGroundControl][qgc]).
ROS API documentation moved to [wiki.ros.org][wiki].
Features
- Communication with autopilot via serial port, UDP or TCP (e.g. [ArduPilot][apm])
- Internal proxy for Ground Control Station (serial, UDP, TCP)
- [mavlink_ros][mlros] compatible ROS topics (Mavlink.msg)
- Plugin system for ROS-MAVLink translation
- Parameter manipulation tool
- Waypoint manipulation tool
- PX4Flow support (by [mavros_extras][mrext])
Limitations
Only for linux. Depends on [Boost library][boost] >= 1.46 (hydro on 12.04). Catkin build system required (tested with ROS Hydro Medusa and Indigo Igloo).
This package are dependent on [ros-*-mavlink][mlwiki] build from [mavlink-gbp-release][mlgbp]. Since 2014-06-19 it exists in hydro and indigo package index (so you can install via rosdep).
Connection URL
New in 0.7.0. Connection now defined by URL, you can use any supported type for FCU and GCS.
Supported schemas:
- Serial:
/path/to/serial/device[:baudrate] - Serial:
serial:///path/to/serial/device[:baudrate][?ids=sysid,compid] - UDP:
udp://[bind_host[:port]]@[remote_host[:port]][/?ids=sysid,compid] - TCP client:
tcp://[server_host][:port][/?ids=sysid,compid] - TCP server:
tcp-l://[bind_port][:port][/?ids=sysid,compid]
Note: ids from URL overrides ids given by system_id & component_id parameters.
Programs
mavros_node – main communication node
Main node. Allow disable GCS proxy by setting empty URL.
Run example:
rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:115200 _gcs_url:=tcp-l://
gcs_bridge – additional UDP proxy
Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.
Previous name: ros_udp.
Example (HIL & DroidPlanner):
rosrun mavros mavros_node _gcs_url:='udp://:14556@hil-host:14551' &
rosrun mavros gcs_bridge _gcs_url:='udp://@nexus7'
mavparam – parameter manipulation
Just see --help.
Examples:
rosrun mavros mavparam dump /tmp/apm.param
rosrun mavros mavparam load /tmp/apm2.param
mavwp – mission manipulation
See --help.
Examples:
rosrun mavros mavwp show -p
rosrun mavros dump /tmp/mission.txt
mavsafety – safety tool
See --help.
Examples:
rosrun mavros mavsafety arm
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package mavros
0.8.6 (2015-03-04)
0.8.5 (2014-11-04)
0.8.4 (2014-11-03)
0.8.3 (2014-11-03)
- 0.8.2
- prepare minor release 0.8.2 for hydro
- Contributors: Vladimir Ermakov
0.8.2 (2014-11-03)
0.8.1 (2014-11-02)
- fix build deps for gcs_bridge
- mavconn #161: Enable rosconsole bridge.
- mavconn #161: Move mavconn tests.
- mavconn #161: Fix headers used in mavros. Add readme.
- mavconn #161: Fix mavros build.
- mavconn #161: Move library to its own package Also rosconsole replaced by console_bridge, so now library can be used without ros infrastructure.
- plugin: sys_time: Set right suffixes to uint64_t constants. Issue #156.
- plugin: sys_time: Add time syncronization diag. Issue #156.
- plugin: sys_time: Debug result. Issue #156.
- plugin: Store time offset in UAS. TODO: implement fcu_time(). Issue #156.
- plugin: sys_time: Fix code style. Also reduce class variables count (most not used outside the method). Issue #156.
- Update repo links. Package moved to mavlink organization.
- Nanosecond fix
- Fix
- Fixes
- Update sys_time.cpp
- Update sys_time.cpp
- Update sys_time.cpp
- Update sys_time.cpp
- Update CMakeLists.txt
- Update mavros_plugins.xml
- Update sys_time.cpp
- Fix build
- sys_time import. Removed all time related stuff from gps and sys_status
- Initial sys_time plugin import
- plugin: ftp: Bytes written now transfered in payload.
- Contributors: Mohammed Kabir, Vladimir Ermakov
0.8.0 (2014-09-22)
- plugin: ftp: Disable debugging and change level for some log messages. Issue #128.
- plugin: ftp: Translate protocol errors to errno. Issue #128.
- scripts: mavftp: Add upload subcommand. Issue #128.
- python: Add more ftp utils. Issue #128.
- plugin: ftp: Fix write offset calculation. Issue #128.
- plugin: ftp: Add
- plugin: ftp: Add support for
- python: Add
- plugin: ftp: Add
- python: Move common mission classes to mavros.mission module. Issue #157.
- python: Move useful utils to mavros.param module. Issue #157.
- python: Move common utils to mavros.utils module. Issue #157.
- python: Create python module for ftp utils. Issue #128, #157.
- scripts: ftp: Implement file-like object for IO. Issue #128.
- plugin: ftp: Implement write file. Issue #128.
- scripts: mavftp: Add remove subcommand. Issue #128.
- plugin: ftp: Add
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_extras | |
| rosjava_messages |
Launch files
- launch/apm2.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 50]
- launch/apm2_radio.launch
-
- fcu_url [default: /dev/ttyUSB0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 50]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- blacklist_yaml
- config_yaml
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 50]
- launch/px4_radio.launch
-
- fcu_url [default: /dev/ttyUSB0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 50]
Messages
Services
- CommandBool [Source]
- CommandHome [Source]
- CommandInt [Source]
- CommandLong [Source]
- CommandTOL [Source]
- FileChecksum [Source]
- FileClose [Source]
- FileList [Source]
- FileMakeDir [Source]
- FileOpen [Source]
- FileRead [Source]
- FileRemove [Source]
- FileRemoveDir [Source]
- FileRename [Source]
- FileTruncate [Source]
- FileWrite [Source]
- ParamGet [Source]
- ParamPull [Source]
- ParamPush [Source]
- ParamSet [Source]
- SetMode [Source]
- StreamRate [Source]
- WaypointClear [Source]
- WaypointGOTO [Source]
- WaypointPull [Source]
- WaypointPush [Source]
- WaypointSetCurrent [Source]
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_extras mavros_msgs test_mavros |
ROS Distro
|
Package Summary
| Version | 1.21.1 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-12-12 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. [QGroundControl][qgc]).
ROS API documentation moved to [wiki.ros.org][wiki].
Features
- Communication with autopilot via serial port, UDP or TCP (e.g. [PX4 Pro][px4] or [ArduPilot][apm])
- Internal proxy for Ground Control Station (serial, UDP, TCP)
- Plugin system for ROS-MAVLink translation
- Parameter manipulation tool
- Waypoint manipulation tool
- PX4Flow support (by [mavros_extras][mrext])
- OFFBOARD mode support
- Geographic coordinates conversions.
Limitations
Only for Linux. Depends on [Boost library][boost], GCC 4.8+ (C++11 support). Catkin build system required.
This package are dependent on [ros-*-mavlink][mlwiki] build from [mavlink-gbp-release][mlgbp]. It exists in ROS package index and usually updates each month.
Connection URL
Connection defined by URL, you can use any supported type for FCU and GCS.
Supported schemas:
- Serial:
/path/to/serial/device[:baudrate] - Serial:
serial:///path/to/serial/device[:baudrate][?ids=sysid,compid] - Serial with hardware flow control:
serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid] - UDP:
udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid] - UDP broadcast until GCS discovery:
udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid] - UDP broadcast (permanent):
udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid] - TCP client:
tcp://[server_host][:port][/?ids=sysid,compid] - TCP server:
tcp-l://[bind_host][:port][/?ids=sysid,compid]
Note:
- Ids from URL overrides value given by system_id & component_id parameters.
- bind_host - default
0.0.0.0- i.e. IP4 ANY - UDP default ports: 14555 @ 14550
- UDP remote address updated every time with incoming packet on bind port.
- TCP default port: 5760
Coordinate frames
MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.
All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.
Related issues: [#49 (outdated)][iss49], [#216 (outdated)][iss216], [#317 (outdated)][iss317], [#319 (outdated)][iss319], [#321 (outdated)][iss321], [#473][iss473]. Documents: [Frame Conversions][iss473rfc], [Mavlink coordinate frames][iss473table].
MAVROS also allows conversion of geodetic and geocentric coordinates through [GeographicLib][geolib] given that:
-
geographic_msgsandNatSatFix.msgrequire the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins; - According to ROS REP 105, the
earthframe should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates; - The translation from GPS coordinates to local geocentric coordinates require the definition
of a local origin on the
mapframe, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in theglobal_positionplugin.
Programs
mavros_node – main communication node
Main node. Allow disable GCS proxy by setting empty URL.
Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):
rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1
gcs_bridge – additional proxy
Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package mavros
1.21.1 (2025-12-12)
- Handling empty trajectory message
- Contributors: Mihir Dharmadhikari
1.21.0 (2025-09-08)
- regenerate all
- tools: move scripts to use with uv add uncrustify helper
- Update mode 14 from LAND to AVOID_ADSB.
- Contributors: FAC94, Vladimir Ermakov
1.20.1 (2025-05-05)
1.20.0 (2024-10-10)
- add param to odom plugin
- add frame_id parameter
- Contributors: EnderMandS
1.19.0 (2024-06-06)
- gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
- Contributors: Beniamino Pozzan
1.18.0 (2024-03-03)
- sys_status.cpp: improve timeout code
- sys_status.cpp: Add a SYS_STATUS message publisher
- Contributors: Dr.-Ing. Amilcar do Carmo Lucas
1.17.0 (2023-09-09)
-
cog: regenerate all
-
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877.
* Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
-
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
-
mavros: Remove extra ';'
-
Suppress warnings from included headers
-
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol
1.16.0 (2023-05-05)
- Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
- made it such that the gp_origin topic published latched.
- Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
- use hpp instead of deprecated .h pluginlib headers
- Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov
1.15.0 (2022-12-30)
- Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
- mavros: Fix some warnings
- Contributors: Morten Fyhn Amundsen, Vladimir Ermakov
1.14.0 (2022-09-24)
- scripts: waypoint and param files are text, not binary Fix #1784
- Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
- plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_extras | |
| test_mavros |
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- launch/apm2.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- launch/mavlink_bridge.launch
-
- ns [default: iris]
- mavlink_bridge_url [default: udp://127.0.0.1:14553@127.0.0.1:14560]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- respawn_mavros [default: $(arg respawn_mavros)]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_extras mavros_msgs test_mavros |
ROS Distro
|
Package Summary
| Version | 1.21.1 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-12-12 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. [QGroundControl][qgc]).
ROS API documentation moved to [wiki.ros.org][wiki].
Features
- Communication with autopilot via serial port, UDP or TCP (e.g. [PX4 Pro][px4] or [ArduPilot][apm])
- Internal proxy for Ground Control Station (serial, UDP, TCP)
- Plugin system for ROS-MAVLink translation
- Parameter manipulation tool
- Waypoint manipulation tool
- PX4Flow support (by [mavros_extras][mrext])
- OFFBOARD mode support
- Geographic coordinates conversions.
Limitations
Only for Linux. Depends on [Boost library][boost], GCC 4.8+ (C++11 support). Catkin build system required.
This package are dependent on [ros-*-mavlink][mlwiki] build from [mavlink-gbp-release][mlgbp]. It exists in ROS package index and usually updates each month.
Connection URL
Connection defined by URL, you can use any supported type for FCU and GCS.
Supported schemas:
- Serial:
/path/to/serial/device[:baudrate] - Serial:
serial:///path/to/serial/device[:baudrate][?ids=sysid,compid] - Serial with hardware flow control:
serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid] - UDP:
udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid] - UDP broadcast until GCS discovery:
udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid] - UDP broadcast (permanent):
udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid] - TCP client:
tcp://[server_host][:port][/?ids=sysid,compid] - TCP server:
tcp-l://[bind_host][:port][/?ids=sysid,compid]
Note:
- Ids from URL overrides value given by system_id & component_id parameters.
- bind_host - default
0.0.0.0- i.e. IP4 ANY - UDP default ports: 14555 @ 14550
- UDP remote address updated every time with incoming packet on bind port.
- TCP default port: 5760
Coordinate frames
MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.
All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.
Related issues: [#49 (outdated)][iss49], [#216 (outdated)][iss216], [#317 (outdated)][iss317], [#319 (outdated)][iss319], [#321 (outdated)][iss321], [#473][iss473]. Documents: [Frame Conversions][iss473rfc], [Mavlink coordinate frames][iss473table].
MAVROS also allows conversion of geodetic and geocentric coordinates through [GeographicLib][geolib] given that:
-
geographic_msgsandNatSatFix.msgrequire the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins; - According to ROS REP 105, the
earthframe should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates; - The translation from GPS coordinates to local geocentric coordinates require the definition
of a local origin on the
mapframe, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in theglobal_positionplugin.
Programs
mavros_node – main communication node
Main node. Allow disable GCS proxy by setting empty URL.
Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):
rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1
gcs_bridge – additional proxy
Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package mavros
1.21.1 (2025-12-12)
- Handling empty trajectory message
- Contributors: Mihir Dharmadhikari
1.21.0 (2025-09-08)
- regenerate all
- tools: move scripts to use with uv add uncrustify helper
- Update mode 14 from LAND to AVOID_ADSB.
- Contributors: FAC94, Vladimir Ermakov
1.20.1 (2025-05-05)
1.20.0 (2024-10-10)
- add param to odom plugin
- add frame_id parameter
- Contributors: EnderMandS
1.19.0 (2024-06-06)
- gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
- Contributors: Beniamino Pozzan
1.18.0 (2024-03-03)
- sys_status.cpp: improve timeout code
- sys_status.cpp: Add a SYS_STATUS message publisher
- Contributors: Dr.-Ing. Amilcar do Carmo Lucas
1.17.0 (2023-09-09)
-
cog: regenerate all
-
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877.
* Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
-
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
-
mavros: Remove extra ';'
-
Suppress warnings from included headers
-
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol
1.16.0 (2023-05-05)
- Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
- made it such that the gp_origin topic published latched.
- Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
- use hpp instead of deprecated .h pluginlib headers
- Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov
1.15.0 (2022-12-30)
- Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
- mavros: Fix some warnings
- Contributors: Morten Fyhn Amundsen, Vladimir Ermakov
1.14.0 (2022-09-24)
- scripts: waypoint and param files are text, not binary Fix #1784
- Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
- plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| mavros_extras | |
| test_mavros | |
| clover | |
| rotors_gazebo_plugins |
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- launch/apm2.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- launch/mavlink_bridge.launch
-
- ns [default: iris]
- mavlink_bridge_url [default: udp://127.0.0.1:14553@127.0.0.1:14560]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- respawn_mavros [default: $(arg respawn_mavros)]
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_extras mavros_msgs test_mavros |
ROS Distro
|
Package Summary
| Version | 1.21.1 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-12-12 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS with proxy for Ground Control Station (e.g. [QGroundControl][qgc]).
ROS API documentation moved to [wiki.ros.org][wiki].
Features
- Communication with autopilot via serial port, UDP or TCP (e.g. [PX4 Pro][px4] or [ArduPilot][apm])
- Internal proxy for Ground Control Station (serial, UDP, TCP)
- Plugin system for ROS-MAVLink translation
- Parameter manipulation tool
- Waypoint manipulation tool
- PX4Flow support (by [mavros_extras][mrext])
- OFFBOARD mode support
- Geographic coordinates conversions.
Limitations
Only for Linux. Depends on [Boost library][boost], GCC 4.8+ (C++11 support). Catkin build system required.
This package are dependent on [ros-*-mavlink][mlwiki] build from [mavlink-gbp-release][mlgbp]. It exists in ROS package index and usually updates each month.
Connection URL
Connection defined by URL, you can use any supported type for FCU and GCS.
Supported schemas:
- Serial:
/path/to/serial/device[:baudrate] - Serial:
serial:///path/to/serial/device[:baudrate][?ids=sysid,compid] - Serial with hardware flow control:
serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid] - UDP:
udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid] - UDP broadcast until GCS discovery:
udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid] - UDP broadcast (permanent):
udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid] - TCP client:
tcp://[server_host][:port][/?ids=sysid,compid] - TCP server:
tcp-l://[bind_host][:port][/?ids=sysid,compid]
Note:
- Ids from URL overrides value given by system_id & component_id parameters.
- bind_host - default
0.0.0.0- i.e. IP4 ANY - UDP default ports: 14555 @ 14550
- UDP remote address updated every time with incoming packet on bind port.
- TCP default port: 5760
Coordinate frames
MAVROS does translate Aerospace NED frames, used in FCUs to ROS ENU frames and vice-versa. For translate airframe related data we simply apply rotation 180° about ROLL (X) axis. For local we apply 180° about ROLL (X) and 90° about YAW (Z) axes. Please read documents from issue #473 for additional information.
All the conversions are handled in src/lib/ftf_frame_conversions.cpp and src/lib/ftf_quaternion_utils.cpp and tested in test/test_frame_conversions.cpp and test/test_quaternion_utils.cpp respectively.
Related issues: [#49 (outdated)][iss49], [#216 (outdated)][iss216], [#317 (outdated)][iss317], [#319 (outdated)][iss319], [#321 (outdated)][iss321], [#473][iss473]. Documents: [Frame Conversions][iss473rfc], [Mavlink coordinate frames][iss473table].
MAVROS also allows conversion of geodetic and geocentric coordinates through [GeographicLib][geolib] given that:
-
geographic_msgsandNatSatFix.msgrequire the LLA fields to be filled in WGS-84 datum, meaning that the altitude should be the height above the WGS-84 ellipsoid. For that, a conversion from the height above the geoid (AMSL, considering the egm96 geoid model) to height above the WGS-84 ellipsoid, and vice-versa, is available and used in several plugins; - According to ROS REP 105, the
earthframe should be propagated in ECEF (Earth-Centered, Earth-Fixed) local coordinates. For that, the functionalities of GeographicLib are used in order to allow conversion from geodetic coordinates to geocentric coordinates; - The translation from GPS coordinates to local geocentric coordinates require the definition
of a local origin on the
mapframe, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in theglobal_positionplugin.
Programs
mavros_node – main communication node
Main node. Allow disable GCS proxy by setting empty URL.
Run example (autopilot connected via USB at 921600 baud, GCS running on the host with IP 172.16.254.1):
rosrun mavros mavros_node _fcu_url:=/dev/ttyACM0:921600 _gcs_url:=udp://@172.16.254.1
gcs_bridge – additional proxy
Allows you to add a channel for GCS. For example if you need to connect one GCS for HIL and the second on the tablet.
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package mavros
1.21.1 (2025-12-12)
- Handling empty trajectory message
- Contributors: Mihir Dharmadhikari
1.21.0 (2025-09-08)
- regenerate all
- tools: move scripts to use with uv add uncrustify helper
- Update mode 14 from LAND to AVOID_ADSB.
- Contributors: FAC94, Vladimir Ermakov
1.20.1 (2025-05-05)
1.20.0 (2024-10-10)
- add param to odom plugin
- add frame_id parameter
- Contributors: EnderMandS
1.19.0 (2024-06-06)
- gps_global_origin: remove LLA to ECEF conversion gps_global_origin is being published as geographic_msgs::GeoPointStamped message, which wants LLA format https://docs.ros.org/en/api/geographic_msgs/html/msg/GeoPointStamped.html FIX https://github.com/mavlink/mavros/issues/1381
- Contributors: Beniamino Pozzan
1.18.0 (2024-03-03)
- sys_status.cpp: improve timeout code
- sys_status.cpp: Add a SYS_STATUS message publisher
- Contributors: Dr.-Ing. Amilcar do Carmo Lucas
1.17.0 (2023-09-09)
-
cog: regenerate all
-
Bugfix/update map origin with home position (#1892)
- Update map origin with home position
- Uncrustify
* Revert "Uncrustify" This reverts commit f1387c79c7670cc241986586436e3da43842e877.
* Change to relative topic ---------Co-authored-by: Natalia Molina <<molina-munoz@wingcopter.com>>
-
Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
-
mavros: Remove extra ';'
-
Suppress warnings from included headers
-
Contributors: Morten Fyhn Amundsen, Vladimir Ermakov, natmol
1.16.0 (2023-05-05)
- Merge pull request #1829 from snwu1996/latched_gp_origin_pub Made it such that the gp_origin topic publisher is latched.
- made it such that the gp_origin topic published latched.
- Merge pull request #1817 from lucasw/pluginlib_hpp use hpp instead of deprecated .h pluginlib headers
- use hpp instead of deprecated .h pluginlib headers
- Contributors: Lucas Walter, Shu-Nong Wu, Vladimir Ermakov
1.15.0 (2022-12-30)
- Merge pull request #1806 from scoutdi/fix-some-warnings mavros: Fix some warnings
- mavros: Fix some warnings
- Contributors: Morten Fyhn Amundsen, Vladimir Ermakov
1.14.0 (2022-09-24)
- scripts: waypoint and param files are text, not binary Fix #1784
- Merge pull request #1780 from snktshrma/master guided_target: accept position-target-global-int messages
- plugins: add guided_target to accept offboard position targets Update guided_target.cpp Update guided_target.cpp Update mavros_plugins.xml Update CMakeLists.txt Added offboard_position.cpp Update apm_config.yaml Update offboard_position.cpp Update offboard_position.cpp Rename offboard_position.cpp to guided_target.cpp Update CMakeLists.txt Update mavros_plugins.xml Update apm_config.yaml Update guided_target.cpp
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/apm.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- launch/apm2.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- launch/mavlink_bridge.launch
-
- ns [default: iris]
- mavlink_bridge_url [default: udp://127.0.0.1:14553@127.0.0.1:14560]
- launch/node.launch
-
- fcu_url
- gcs_url
- tgt_system
- tgt_component
- pluginlists_yaml
- config_yaml
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- launch/px4.launch
-
- fcu_url [default: /dev/ttyACM0:57600]
- gcs_url [default: ]
- tgt_system [default: 1]
- tgt_component [default: 1]
- log_output [default: screen]
- fcu_protocol [default: v2.0]
- respawn_mavros [default: false]
- respawn_mavros [default: $(arg respawn_mavros)]
Messages
No message files found.
Services
No service files found