mavros extras

Some extra plugins and nodes for mavros.

The full ROS API of every plugin (topics, services, parameters) is documented in the plugin reference and the generated plugin pages.

This package provides the optional plugins:

• 3dr_radio, adsb, camera, cam_imu_sync, cellular_status, companion_process_status, debug_value, distance_sensor, esc_status, esc_telemetry, fake_gps, gimbal_control, gps_input, gps_rtk, gps_status, guided_target, hil, landing_target, log_transfer, mag_calibration_status, mocap_pose_estimate, mount_control, obstacle_distance, obstacle_distance_3d, odom, onboard_computer_status, open_drone_id, optical_flow, play_tune, px4flow, rangefinder, sim_state, terrain, trajectory, tunnel, vfr_hud, vibration, vision_pose_estimate, vision_speed_estimate, wheel_odometry.

See the plugin reference for how to load and configure each plugin.

Changelog for package mavros_extras

2.16.0 (2026-09-27)

• Merge pull request #2308 from webzuweb/fix/gimbal-control-frame-id-race fix(gimbal_control): guard frame_id/tf_frame_id against data race
• gimbal_control: fix uncrustify
• fix(gimbal_control): guard frame_id/tf_frame_id against data race The frame_id and tf_frame_id std::string members are written from parameter callbacks on the plugin node executor and read from MAVLink message handlers on the UAS executor, with no common synchronization. This is a C++ data race (undefined behavior) when parameters change while gimbal messages arrive. Take the existing shared_timed_mutex mu for writes (s_unique_lock) and copy the frame names under a shared lock (s_shared_lock) before use. Fixes #2301
• 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
• extras: use const shared_ptr in servo_state_publisher callbacks rclcpp deprecates non-const shared_ptr subscription callbacks in favor of ConstSharedPtr. Both robot_description_cb and rc_out_cb only read the received messages.
• extras: use const shared_ptr in tunnel callback rclcpp deprecates non-const shared_ptr subscription callbacks in favor of ConstSharedPtr. ros_callback only reads the received message.
• extras: use const shared_ptr in play_tune callback rclcpp deprecates non-const shared_ptr subscription callbacks in favor of ConstSharedPtr. The tune callback only reads the received message.
• extras: use const shared_ptr in gimbal manual control callback rclcpp deprecates non-const shared_ptr subscription callbacks in favor of ConstSharedPtr. manager_set_manual_control_cb was the only gimbal callback still taking a non-const pointer; it does not modify the message.
• extras: run mount configure in a dedicated callback group (fix #2286) The throwaway cmd/command client lands in the node default MutuallyExclusive group. Because configure_srv also ran in that group, mount_configure_cb blocked on future.get() while the client response callback could never be scheduled, deadlocking the ~/configure service. Bind configure_srv to its own callback group so the caller and the client response run in disjoint groups.
• Fix fake GPS test dependency
• Fix fake GPS NED velocity and course
• Contributors: Daniil Mordanov, Vladimir Ermakov, webzuweb

2.15.1 (2026-08-22)

• extras: fix mount diagnostic clock source
• extras: fix HIL_GPS over-scaling and expose id/yaw (fix #2090)
• 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).
• 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

• docs: refresh subpackage READMEs

  - mavros: point the API docs link at readthedocs/plugin reference instead of the dead wiki.ros.org page; fix ROS1 roslaunch examples to ros2 launch; note that up-to-date install instructions live in the readthedocs guide.

  • mavros_extras: link to the full plugin reference.
  • libmavconn: link to the docs and API reference.
  • mavros_msgs: add the missing README (message/service overview + API links).
  • test_mavros: mark the ROS1-era SITL hand-tests as historical.

• docs: remove redundant topic repetitions in plugin docs

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