MAVROS

MAVLink extendable communication node for ROS.

• Since 2014-08-11 this repository contains several packages.
• Since 2014-11-02 hydro support separated from master to hydro-devel branch.
• Since 2015-03-04 all packages also dual licensed under terms of BSD license.
• Since 2015-08-10 all messages moved to mavros_msgs package
• Since 2016-02-05 (v0.17) frame conversion changed again
• Since 2016-06-22 (pre v0.18) Indigo and Jade separated from master to indigo-devel branch.
• Since 2016-06-23 (0.18.0) support MAVLink 2.0 without signing.
• Since 2017-08-23 (0.20.0) GeographicLib and it’s datasets are required. Used to convert AMSL (FCU) and WGS84 (ROS) altitudes.
• Since 2018-05-11 (0.25.0) support building master for Indigo and Jade stopped. Mainly because update of console-bridge package.
• Since 2018-05-14 (0.25.1) support for Indigo returned. We use compatibility layer for console-bridge.
• Since 2019-01-03 (0.28.0) support for Indigo by master not guaranteed. Consider update to more recent distro.
• 2020-01-01 version 1.0.0 released, please see #1369 for reasons and its purpose.
• 2021-05-28 version 2.0.0 released, it’s the first alpha release for ROS2.

mavros package

It is the main package, please see its README. Here you may read installation instructions.

mavros_extras package

This package contains some extra nodes and plugins for mavros, please see its README.

libmavconn package

This package contain mavconn library, see its README. LibMAVConn may be used outside of ROS environment.

test_mavros package

This package contain hand-tests and manual page for APM and PX4 SITL. Please see README first!

mavros_msgs package

This package contains messages and services used in MAVROS.

Support forums and chats

Please ask your questions not related to bugs/feature or requests on:

• MAVROS discussion in Gitter IM
• PX4 Discuss Forum
• PX4 Slack
• Ardupilot Discuss Forum
• ArduPilot/VisionProjects in Gitter IM

We’d like to keep the project bug tracker as free as possible, so please contact via the above methods. You can also PM us via Gitter and the PX4 Slack.

CI Statuses

• ROS Melodic:
• ROS Noetic:

Contributing

1. Fork the repo:
2. Clone the repo (git clone https://github.com/mavlink/mavros.git);
3. Create a remote connection to your repo (git remote add <remote_repo> git@github.com:<YourGitUser>/mavros.git);
4. Create a feature/dev branch (git checkout -b <feature_branch>);
5. Add the changes;
6. Apply the changes by committing (git commit -m "<message>" or git commit -a and then write message; if adding new files: git add <path/to/file.ext>);
7. Check code style uncrustify -c ${ROS_WORKSPACE}/src/mavros/mavros/tools/uncrustify-cpp.cfg --replace --no-backup <path/to/file.ext>;
8. Fix small code style errors and typos;
9. Commit with description like “uncrustify” or “code style fix”. Please avoid changes in program logic (separate commit are better than mix of style and bug fix);
10. Run tests:
    • with catkin_make, issue catkin_make tests and then catkin_make run_tests;
    • with catkin tools, issue catkin run_tests;
11. If everything goes as planned, push the changes (git push -u <remote_repo> <feature_branch>) and issue a pull request.

cog.py generators

In many places we need to copy some data from MAVLink, and in many places we have regular patterns of code (e.g. copy message fields). To avoid manual copy-paste work (and errors!) we use cog.py generator/preprocessor. Generator program written in comment blocks on Python (that allow import pymavlink), output will be inserted between markers. As an example you may look at utils::to_string() implementation for some enums: lib/enum_to_string.cpp.

To install it :

pip install --user cogapp pymavlink

Then fill the behaviour you when between the [[[cog:]]] [[[end]]] balise and invoke cog like this:

cog.py -cr your_file.h/cpp

Your file will be updated by cog.

./mavros/tools/cogall.sh

This script will regenerate all files with generators.