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I've used the [mavros package] (http://wiki.ros.org/mavros) with the pixhawk and is quite nice. Lots of people use it and I believe that there also tutorials for it on the pixhawk site too.

I've used the [mavros package] (http://wiki.ros.org/mavros) package with the pixhawk and is quite nice. Lots of people use it and I believe that there also tutorials for it on the pixhawk site too. too.