MAVROS

MAVLink extendable communication node for ROS2.

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.

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Related issues: [#49 (outdated)][iss49], [#216 (outdated)][iss216], [#317 (outdated)][iss317], [#319 (outdated)][iss319], [#321 (outdated)][iss321], [#473][iss473].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_msgs and NatSatFix.msg require 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 earth frame 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 map frame, in ECEF, and calculate the offset to it in ENU. All the conversions are supported by GeographicLib classes and methods and implemented in the global_position plugin.

Composite nodes

See also: https://docs.ros.org/en/foxy/Tutorials/Composition.html

mavros::router::Router

This is router node required to support connections to FCU(s), GCS(es) and UAS nodes. The Router allows you to add/remove endpoints on the fly without node restart.

mavros::uas::UAS

This node is a plugin container which manages all protocol plugins. Each plugin is a subnode to this.

Programs

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Changelog for package mavros

2.10.1 (2025-06-06)

• fix: display topic on service timeout error
• Fix incorrect macro usage RCLCPP_SMART_PTR_DEFINITIONS eventually is expanding to: #define __RCLCPP_MAKE_UNIQUE_DEFINITION(...) template<typename ... Args> static std::unique_ptr<__VA_ARGS_> make_unique(Args && ... args) { return std::unique_ptr<__VA_ARGS_>(new __VA_ARGS_(std::forward<Args>(args) ...)); } which is incorrect for abstract classes like Endpoint or Plugin RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE is used instead excluding make_unique functionality
• Contributors: Emmanuel Ferdman, Mykhailo Kuznietsov

2.10.0 (2025-05-05)

• extras: fix odid build

• extras: re-generate all cog scripts

• mavros: fix indentation

• Merge branch 'master' into ros2

  * master: 1.20.1 update changelog 1.20.0 update changelog update mavlink dep branch Add missing std_srvs dependency add param to odom plugin add frame_id parameter Fix compile error when compiling with gcc 13

• 1.20.1

• update changelog

• fix spelling error

• add new flag

• if

• Address Warnings

• cpplint

• built successfully

• 1.20.0

• update changelog

• add param to odom plugin

• add frame_id parameter

• Contributors: EnderMandS, Michael Carlstrom, Vladimir Ermakov

2.9.0 (2024-10-10)

• py-mavros: fix flake8 errors
• py-mavros: reconfigure flake8
• py: isort
• py: black
• py-mavros: reformat with black
• py-mavros: csv escapechar of empty string unsupported since py 3.11
• apply ament_uncrustify --reformat (jazzy)
• Merge pull request #2000 from leocencetti/fix-test-errors Fix test errors in 3x3 covariance test cases
• fix: Patch test errors
• Merge pull request #1998 from leocencetti/fix-wrong-covariance-rotation Fix 3x3 covariance matrix rotation/transformation
• chore: Fix and reenable covariance rotation tests
• fix: Correct 3x3 covariance matrix rotation
• use GeographicLib::Geoid::ConvertHeight
• fix -Wdeprecated-enum-float-conversion in GeographicLib
• depcrecation errors
• #1965: sync format of configs
• Contributors: Jacob Dahl, Leonardo Cencetti, Vladimir Ermakov

2.8.0 (2024-06-07)

• param: replace old rmw_qos usage

• sys_status: replace rmw_qos too

• command: fix humble condition

• regenerate all using cogall.sh

• command: keep support for humble

• command: fix misprint

• command: replace deprecated rmw_qos

File truncated at 100 lines see the full file