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
| Description | |
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-10-24 |
| 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
| Description | |
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-10-24 |
| 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
| Description | |
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-10-24 |
| 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
| Description | |
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-10-24 |
| 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
| Description | |
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-10-24 |
| 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 uavprojectilecatcher repopx4 catkin_tools_prebuild mavlink drone_ball_catcher libmavconn mavros mavros_extras mavros_msgs test_mavros realsense2_description realsense_gazebo_plugin |
ROS Distro
|
Package Summary
| Version | 1.5.1 |
| License | GPLv3 |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/arijitnoobstar/uavprojectilecatcher.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2021-05-16 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| 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
1.5.1 (2021-01-04)
- Fix tests for renaming of ECEF cases Introduced in 6234af29
- Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
- Contributors: Rob Clarke
1.5.0 (2020-11-11)
- mavros/sys_status: Fill flight_custom_version field
- mavros: Add override specifiers
- mavros: Move ECEF tf enums to separate enum class This avoids a bunch of unhandled switch cases, and should improve type safety a bit.
- Contributors: Morten Fyhn Amundsen
1.4.0 (2020-09-11)
- mavros: use mavlink::minimal:: after incompatible changes in mavlink package Incompatible change: https://github.com/mavlink/mavlink/pull/1463 Fix: #1483, https://github.com/mavlink/mavlink/issues/1474
- fixes based on vooon's review
- fix issue what we couldn't set real parameters to 0.0 in mavros
- Add error message
- Fixed compilation error: publish std_msgs::String, not std::string for gcs_ip
- Dispatch GCS IP address
- Contributors: Artem Batalov, Marcelino, Morten Fyhn Amundsen, Vladimir Ermakov, Øystein Skotheim
1.3.0 (2020-08-08)
- fake_gps.cpp: implement speed accuracy
- fake_gps.cpp: Add mocap_withcovariance configuration parameter
- fake_gps.cpp: add initial support for GPS_INPUT MAVLink message
- apm.launch: Avoid warning: Warning: You are using <arg> inside an <include> tag with the default=XY attribute - which is superfluous. Use value=XY instead for less confusion. Attribute name: respawn_mavros
- Added support for MavProxy parameter file format
- Ignore read-only parameters and statistics parameters in push operations
- fix indentation
- transform based on coordinate_frame
- wind plugin: fix ArduPilot wind transformation
- Contributors: Ben Wolsieffer, Dr.-Ing. Amilcar do Carmo Lucas, Yuan, Yuan Xu
1.2.0 (2020-05-22)
- has_capability only works for enums
- Uncrustify
- Reworked Waypoint plugin to use capabilities_cb Additionally added helper functions has_capability and has_capabilities so that people can use either ints or enums to check if the UAS has a capability. This might make accepting capabilities as a parameter moot though.
- Added alias for capabilities enum to UAS
- Added alias for capabilities enum to UAS
- Added a capabilities change cb queue Plugins can now write functions that they add to the capabilities_cb_vec. These functions will be called only when there is a change to the capabilities themselves not whenever the known status of the fcu_capabilities change. These functions should have a parameter of type mavlink::common::MAV_PROTOCOL_CAPABILITY which is essentially just a uint64_t however being more opinionated is helpful when looking for what the canonical enum names are in the mavlink project header files.
- Uncrustify
- Fixed Removed Uncrustify Option I'm not sure why this didn't break when I ran uncrustify previously but it seems that the align_number_left option was removed a while ago with this merge request but I may be mistaken https://github.com/uncrustify/uncrustify/pull/1393 I replaced it which align_number_right=true since it seems to be the inverse of align_number_left=true.
- Removed deprecated MAV_FRAME values
- Removed use of variant in favor of templates Since ROS messages are now the storage type in the node, providing to and from conversion functions is sufficient and can be better expressed with function templates.
- Encode factor returns double
- Changed encoding factor cog code
- Uncrustify changes
- Added new parameter to config.yamls
- Updated waypoint plugin to support MISSION_ITEM_INT These changes add a new parameter use_mission_item_int, which allows users to prefer the old behavior. These changes also verify that the flight controller supports _INT messages since APM only sends REQUEST_ITEM messages even though it accepts _INT items back. This commit is functional and tested with the APM stack only. PX4 sitl jmavsim threw: WP: upload failed: Command is not supported. FCU: IGN MISSION_ITEM: Busy
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: $(arg respawn_mavros)]
Services
No service files found
Plugins
Recent questions tagged mavros at Robotics Stack Exchange
|
|
mavros package from mavros repolibmavconn mavros mavros_examples mavros_extras mavros_msgs |
ROS Distro
|
Package Summary
| Version | 2.16.0 |
| License | GPLv3 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-10-24 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
MAVROS -- MAVLink extendable communication node for ROS
with proxy for Ground Control Station.
Additional Links
Maintainers
- Vladimir Ermakov
Authors
- Vladimir Ermakov
MAVROS
MAVLink extendable communication node for ROS 2.
It provides communication with the autopilot via serial port, UDP or TCP (e.g. PX4 or ArduPilot), an internal proxy for a Ground Control Station, a plugin system for ROS-MAVLink translation, OFFBOARD mode support, and geographic coordinate conversions.
Only for Linux.
The ROS API (topics, services, parameters) of every plugin is documented in the plugin reference and the full documentation.
The transport library is split into the standalone libmavconn package, which is usable outside ROS.
Quick start
sudo apt install ros-${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
| Description | |
| Checkout URI | https://github.com/mavlink/mavros.git |
| VCS Type | git |
| VCS Version | ros2 |
| Last Updated | 2026-10-24 |
| 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
| Description | |
| 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
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
| Description | |
| 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.
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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
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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