Mavros

MAVLink extendable communication node for ROS2.

Connections url

Serial: /path/to/serial/device[:baudrate]
Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
UDP: udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid]
TCP client: tcp://[server_host][:port][/?ids=sysid,compid]

ardupilot connection
ros2 launch mavros apm.launch fcu_url:=tcp://localhost:5760 gcs_url:=udp://@localhost:14550

using node.launch connect to APM SITL and control pluginlist and config
ros2 launch mavros node.launch \
fcu_url:=tcp://0.0.0.0:5760@ \
gcs_url:=udp://@127.0.0.1:14560 \
tgt_system:=1 \
tgt_component:=1 \
pluginlists_yaml:=plugins.yaml \
config_yaml:=config.yaml

using node.launch connect to APM HW and control pluginlist and config
ros2 launch mavros node.launch \
fcu_url:=/dev/ttyACM1:115200 \
gcs_url:=udp://@127.0.0.1:14560 \
tgt_system:=1 \
tgt_component:=1 \
pluginlists_yaml:=/workspace/src/ardupilot_bringup/config/plugins.yaml \
config_yaml:=/workspace/src/ardupilot_bringup/config/config.yaml

Plugins

sys_state

sys_time

terrain

distance_sensor

ahrs2

home_position

setpoint_velocity

local_position

vfr_hud

gimbal_control

setpoint_raw

setpoint_attitude

param

global_position

imu

do_set_mode

command

rc_io