MAVLink to ROS gateway with proxy for Ground Control Station
vooon plugin:command: Update for C++11, style fix
Signed-off-by: Vladimir Ermakov <>
Latest commit 5ac2b2b Dec 4, 2018



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 Jande 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.

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/feauture or requests on:

We'd like to keep the project bugtracker as free as possible, so please contact via the above methods. You can also PM us via Gitter.

CI Statuses

  • ROS Kinetic: Build Status
  • ROS Lunar: Build Status
  • ROS Melodic: Build Status
  • Travis master on Indigo & Jade: travis status