https://github.com/mavlink/mavros/tree/master/mavros/src/mavros

Install

https://ardupilot.org/dev/docs/ros-install.html#installing-mavros

sudo apt-get install ros-noetic-mavros ros-noetic-mavros-extras

wget <https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh>

chmod a+x install_geographiclib_datasets.sh

./install_geographiclib_datasets.sh

Set MavRos raw sensors rate

rosservice call /mavros/set_stream_rate 0 300 1

Dump MavRos parameters

rosrun mavros mavparam dump params.txt

Get information about MavRos command

rosservice info /mavros/set_mode

Get information about Mavros command format

rossrv show mavros_msgs/SetMode

Set Fligh Mode

rosrun mavros mavsys mode -c MANUAL

or

rosservice call /mavros/set_mode "custom_mode: 'GUIDED'"

Arm

rosrun mavros mavsafety disarm

Disarm