ROS mavlink subscriptions and publications

mavlink publications

import rospy
from mavros import mavlink
from mavros_msgs.msg import Mavlink
from pymavlink.dialects.v20 import common

class MavlinkPublicationTest:
    def __init__(self):
        self.mav = common.MAVLink(None)
        self.mav_pub = rospy.Publisher("/mavlink/to", Mavlink, queue_size=10)
        msg = common.MAVLink_command_long_message(
                target_system=0,
                target_component=0,
                command=205,
                confirmation=0,
                param1=90, # pitch
                param2=0, # roll
                param3=0, # yaw
                param4=0,
                param5=0,
                param6=0,
                param7=2
            )
        msg.pack(self.mav) # you can add ,force_mavlink1=True here if you need mavlink version 1
        self.mav_pub.publish(mavlink.convert_to_rosmsg(msg))

mavlink subscription

import rospy
from mavros import mavlink
from mavros_msgs.msg import Mavlink
from pymavlink.dialects.v20 import common

class MavlinkSubscriptionTest:
    def __init__(self):
        self.mav = common.MAVLink(None)
        rospy.Subscriber("/mavlink/from", Mavlink, self.on_mavlink)

    def on_mavlink(self, msg):
        if msg.msgid == 24:
            gps_raw_int = self.mav.decode(mavlink.convert_to_bytes(msg))
            self.gps_fix_type = gps_raw_int.fix_type