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

2.15.0 (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

  - sim_state: drop the topic list from the class brief; the generated Publishers section already lists each topic with a description.

  - Separate section-marker // comments (e.g. "// publishers") from the //! entity description with a blank line, so the extractor no longer concatenates them into verbose descriptions like "publishers Publish DEBUG messages...".

  • Regenerate docs.

• Merge pull request #2258 from mavlink/plugin-tests Plugin tests

• mavros: disable intra-process for latched publishers Plugin nodes enable intra-process comms, but rclcpp (e.g. humble) rejects creating a latched (transient_local) publisher or subscription on an intra-process node: "intraprocess communication allowed only with volatile durability". This made the waypoint/geofence/rallypoint/global_position/ home_position/sys_status plugins (which publish latched state) fail to start on humble, and the mission plugin test crash in CI. Add NonIntraProcessPublisherOptions()/NonIntraProcessSubscriptionOptions() helpers and pass them to the transient_local publishers and subscriptions, so those entities opt out of intra-process delivery while volatile topics keep the zero-copy path.

• docs: add ROS API descriptions to all plugins and regenerate docs Add one-line //! descriptions for every exposed publisher, subscriber, service, client and parameter across all mavros and mavros_extras plugins, so the generated per-plugin docs describe what each ROS entity does. Regenerate the plugin docs and index, and add a readthedocs Documentation badge to the README.

• docs: add mavlink subprotocol references to plugin docs Add a reference to the relevant MAVLink microservice (subprotocol) page in the doxygen description of each plugin that maps to one. The references flow through the existing doc extractor/template pipeline.

• build: bump cmake_minimum_required to 3.10 CMake (4.0+, as shipped on Lyrical/Rolling) emits a deprecation warning for cmake_minimum_required < 3.10: CMake Deprecation Warning at CMakeLists.txt:1 (cmake_minimum_required): Compatibility with CMake < 3.10 will be removed from a future version of CMake. Raise the floor to 3.10 for all packages that were below it:

  • libmavconn, mavros, mavros_msgs, mavros_extras: 3.5 -> 3.10
  • test_mavros: 2.8.3 -> 3.10

  - mavros_examples: 3.8 -> 3.10 3.10 is the lowest version that silences the warning while remaining compatible with all supported ROS 2 distros (Humble ships CMake 3.22).

• Merge pull request #2242 from mavlink/followup-terrain-protocol extras: polish terrain protocol integration (PR #2137 followup)

• extras: fix importlib.resources.files() on Python 3.10 (humble) files(__name_) fails on Python 3.10 because srtm_continent_map is a module, not a package. Python 3.12+ relaxed files() to also accept modules, but humble (3.10) still requires a package. Use __package_ (the parent 'terrain_server' package) instead.

• extras: modernize Python packaging to pyproject.toml

  • Add pyproject.toml with project metadata, entry points, and ruff config
  • Simplify setup.py to minimal shim (for legacy/ament compatibility)
  • Trim setup.cfg to only ament-specific sections (entry_points,

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