I haven’t used mavros before, but this comment by @patrickelectric from a couple of years ago is likely helpful to you - it seems that mavros uses pymavlink.
Given the above, that seems very likely. More generally, mavros has to have some way of sending mavlink messages, and the mavlink protocol is set up such that if you’re able to send one then you can likely send all of them, as long as you can put the right pieces of information in the right place 