# ROS2 and Mission Planning

**URL:** <https://discuss.px4.io/t/ros2-and-mission-planning/28856>\
**Category:** ROS 1 / ROS 2\
**Created:** [August 30, 2022, 5:15am UTC](https://discuss.px4.io/t/ros2-and-mission-planning/28856 "2022-08-30T05:15:23Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![tank104](https://discuss.px4.io/user_avatar/discuss.px4.io/tank104/32/11398_2.png) [@tank104](https://discuss.px4.io/u/tank104)\
**Post date:** [August 30, 2022, 5:15am UTC](https://discuss.px4.io/t/ros2-and-mission-planning/28856/1 "2022-08-30T05:15:23Z")

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Hi,  
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](https://mavlink.io/en/services/mission.html)
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).

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**Author:** ![Kristoffer\_Bergman](https://discuss.px4.io/user_avatar/discuss.px4.io/kristoffer_bergman/32/12754_2.png) [@Kristoffer\_Bergman](https://discuss.px4.io/u/Kristoffer_Bergman)\
**Post date:** [April 11, 2023, 3:13pm UTC](https://discuss.px4.io/t/ros2-and-mission-planning/28856/2 "2023-04-11T15:13:20Z")

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Hi @tank104

I am struggling with the same questions. I have been working with the ROS2-PX4 Offboard control via DDS for a while, and would like to extend my ROS2 node with increased functionality. Which of these three options did you go for?

Perhaps @Benja has some ideas to share regarding this question?

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**Author:** ![tank104](https://discuss.px4.io/user_avatar/discuss.px4.io/tank104/32/11398_2.png) [@tank104](https://discuss.px4.io/u/tank104)\
**Post date:** [April 11, 2023, 8:30pm UTC](https://discuss.px4.io/t/ros2-and-mission-planning/28856/3 "2023-04-11T20:30:44Z")

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Hi @Kristoffer_Bergman,  
I ended up ditching ROS2, and using MavLink for mission planning. Then switch to Offboard for any manual flight deviations.