ROS2 and Mission Planning

Have been using Offboard control for ROS2 and PX4 for a while now, and loving it.

Just wondering now the best practise for doing mission planning is with this setup.

Options I currently see are:

  1. run missions all through Offboard control
  2. use MavLink to upload missions Mission Protocol · MAVLink Developer Guide
  3. Potentially use MavRos to upload missions (but don’t really know this techniq or if its possible)

What is the “best practise approach” to use from above? Or is there another approach.

With whatever approach I use, I assume I can use ROS2 node to take Offboard Control when needed through a mission (i.e. for collision detection, etc).