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MAVLink to ROS gateway with proxy for Ground Control Station

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MAVLink to ROS gateway with proxy for Ground Control Station

MAVROS

A MAVLink-to-ROS 2 bridge for drones.

MAVROS turns a MAVLink autopilot (PX4, ArduPilot, Flix, …) into a set of familiar ROS 2 topics, services and parameters, so you can program a drone in ROS the same way you would program any other robot — no need to speak MAVLink.

What is it?

MAVLink is the wire protocol most flight controllers speak. ROS 2 is a robotics framework for building software. MAVROS is the glue between them:

mermaid

flowchart LR
    subgraph FCU["Flight controller"]
        AP[PX4 / ArduPilot]
    end
    subgraph MAV["MAVROS node"]
        BR[bridge / plugins]
    end
    subgraph APP["Your ROS 2 app"]
        N1[telemetry nodes]
        N2[command nodes]
        N3[mission / GCS nodes]
    end
    AP -- MAVLink (UDP/TCP/serial) --> BR
    BR -- ROS 2 topics / services / params --> N1
    BR --> N2
    BR --> N3

It does the boring, low-level work for you:

Telemetry out — autopilot state, IMU, GPS, attitude, battery, and more arrive as standard ROS 2 sensor_msgs/mavros_msgs topics.
Commanding in — arm/disarm, takeoff, land, set mode, upload missions and geofences through familiar ROS 2 services.
Routing — MAVROS can proxy between a ground station, the FCU and multiple ROS processes over a single link.

Why MAVROS?

Tested against PX4 and ArduPilot, including SITL simulation.
Extensible — a plugin architecture translates each MAVLink message; add behaviour without touching the core.
ROS 2 native — supports Humble and newer ROS 2 releases.
Flexible transport — USB/serial, UDP, TCP, or a shared UAS bus.

Quick start

Install the package and its mandatory GeographicLib datasets:

bash

sudo apt install ros-${ROS_DISTRO}-mavros
sudo ros2 run mavros install_geographiclib_datasets.sh

Launch the bridge against a flight controller (or a simulated one):

bash

ros2 launch mavros node.launch \
  fcu_url:=udp://127.0.0.1:[email protected]:14557

Then inspect the sensor stream:

bash

ros2 topic echo /mavros/imu/data

See the installation guide for binary, source and container installs, and the examples for task control and waypoint missions.

Packages

Package	Purpose
`mavros`	Core nodes (Router, UAS) and standard plugins
`mavros_extras`	Optional plugins (cameras, gimbals, terrain, …)
`mavros_msgs`	ROS 2 message and service interfaces
`libmavconn`	MAVLink transport library (usable outside ROS)
`test_mavros`	Hand-tests and SITL manual for PX4/ArduPilot
`mavros_examples`	Beginner-friendly ROS 2 example scripts (task control, waypoint missions, offboard)