Read and print thrust using mavros and MAVLink

read_thrust.py

from __future__ import print_function
import rospy
from mavros import mavlink
from pymavlink import mavutil
from mavros_msgs.msg import Mavlink

rospy.init_node('thrust_read')

link = mavutil.mavlink.MAVLink('', 255, 1)

def mavlink_message_handler(msg):
    if msg.msgid == 140:
        mav_bytes_msg = mavlink.convert_to_bytes(msg)
        mav_msg = link.decode(mav_bytes_msg)
        print(mav_msg.controls[3])

mavlink_sub = rospy.Subscriber('mavlink/from', Mavlink, mavlink_message_handler)

rospy.spin()