MAVROS does not support gimbal v2 protocol

[boris-gu]

Issue details

I need to launch a Typhoon H480 quadcopter in Gazebo and get the position of its gimbal through MAVROS.
But I couldn't do it, no data is published in the topics /mavros/mount_control/orientation and /mavros/mount_control/status.
A little more detail: https://discuss.px4.io/t/getting-gimbal-position-typhoon-h480/30162

MAVROS version and platform

Mavros: dpkg -s ros-noetic-mavros | grep Version command gives me the following result: 1.14.0-1focal.20221209.205530
ROS: Noetic
Ubuntu: 20.04.5

Autopilot type and version

• ArduPilot
• PX4

Version: 1.13.1

[Mark-Beaty]

@boris-gu I actually have a plugin for this feature almost completed and should have a PR/fork set up publicly hopefully this week, I will update here when that is available

[Mark-Beaty]

@boris-gu I've created a PR which adds a plugin to enable support for gimbal protocol v2, though I don't think it will be compatible with your ROS version immediately. I've tested this with ROS2 Foxy and Humble so far