Mavros GCS heartbeat simulation => Have status_recv message allowing calibration.

mavros_gcs.py

#!/usr/bin/env python2
from __future__ import division

import os
import glob
import rospy
from pymavlink import mavutil
from threading import Thread
from mavros_msgs.msg import Mavlink, StatusText
from mavros import mavlink

class GroundControl():
    def __init__(self, agent='mavros', user_status_cb=None):
        self.agent = agent
        self.mavlink_pub = rospy.Publisher('/mavlink/to', Mavlink, queue_size=1)
        self.statustext_sub = rospy.Subscriber(agent + '/statustext/recv', StatusText, self.status_cb)
        self.user_status_cb = user_status_cb
        self.heartbeat_thread = Thread(target=self.send_heartbeat, args=())
        self.heartbeat_thread.daemon = True
        self.heartbeat_thread.start()

    def status_cb(self, msg):
        if self.user_status_cb is not None:
            self.user_status_cb(msg, self.agent)

    def send_heartbeat(self):
        rate = rospy.Rate(2)  # Hz
        self.heartbeat_msg = mavutil.mavlink.MAVLink_heartbeat_message(
            mavutil.mavlink.MAV_TYPE_GCS, 0, 0, 0, 0, 0)
        self.heartbeat_msg.pack(mavutil.mavlink.MAVLink('', 2, 1))
        self.heartbeat_ros = mavlink.convert_to_rosmsg(self.heartbeat_msg)
        while not rospy.is_shutdown():
            try:
                self.mavlink_pub.publish(self.heartbeat_ros)
                rate.sleep()
            except rospy.ROSInterruptException:
                pass

def printing_callback(msg, agent):
    print agent, ': ',  msg

if __name__ == '__main__':
    rospy.init_node('mavros_gcs', anonymous=True)
    mavros_gcs = GroundControl("odroid130", user_status_cb=printing_callback)
    rospy.spin()