Vladimir Ermakov

https://github.com/mavlink/mavros/blob/master/mavros_msgs/include/mavros_msgs/mavlink_convert.h https://github.com/mavlink/mavros/blob/master/mavros/src/mavros/mavlink.py

Service unavailable error. Did you run mavros?

What is in `/mavros/plugin_blacklist`?

@Rand0409 initially mavlink ftp was implemented only in PX4. Today APM also have it, but i didn't test it. Probably need to add some fixes to the plugin.

Please follow https://github.com/mavlink/mavros/blob/ros2/.github/ISSUE_TEMPLATE because without logs and diag only fortune teller can guess what's wrong in your setup.

Sorry, but you catch diagnostics for another node, a realsense one, not mavros. And there still no logs.

`position_covariance`.

https://github.com/mavlink/mavros/blob/c121f6bde0b47bc031bf92a9a746bac4970944c7/mavros/src/plugins/global_position.cpp#L180-L193

That's just a code that computes covariance in the plugin. You can extract eph/epv or h/v accuracy doing opposite. I.e.: 1. if type==1: `eph, epv = sqrt(cov[0,0]), sqrt(cov[2,2])` (NOTE: eph/v...

@murphym18 do not forget to fill `header.stamp` for any `*Stamped` message.