Which is better for ROS2, mavros2 or px4-ros-comm?

Hi everyone, I’m a beginner, I need to write a simple framework in ros2 to realize QGC’s function of takeoff, set waypoints, empty, land, and return, and I would like to know which one is easier to develop now and has more advantages, mavros2 or px4-ros-comm. Also for the UI I want to design one by myself, I don’t know if there is any good advice.