mavros:
  ros__parameters:
    system_id: 255
    plugin_allowlist:
      - sys_status
      - command
      - imu
      - local_position
      - rc_io
      - param
      - vision_pose

mavros_node:
  ros__parameters:
    fcu_url: "tcp://localhost"
    gcs_url: "udp://@localhost:14550"

mavros/local_position:
  ros__parameters:
    frame_id: "map"
    tf:
      send: false
      frame_id: "map"
      child_frame_id: "base_link"
      send_fcu: false