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Here is as far as I got (not very far.)

However, I just needed to get raw sensor data off of my APM-based quadrotor so I ended up writing a simple node that reads the RAW_GPS MAVLink message type and posts a GPSFix message.

You might find this post useful to get started.

It's always best to reuse code (ie get ros-mavlink-pkg working) than to reinvent the wheel--but if it turns out ros-mavlink-pkg is dead, it's fairly trivial to get data out of MAVLink.

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