Hello,
I didn't fully understand what you tried to do. But here is some clue:
MAVROS is just a bridge between ROS messaging and Mavlink.
About Mavlink usage. The only need message is really the heartbeat as it contains essential status information and implement the mavlink routing feature. Mavlink C implementation already got big helpers function to help you implement the sender and receiver functions.
Mavlink common.xml implements a set of common usefull message. If those don't suit you, you can easily create your own set of message ... but you will need to compile MAVROS yourself to include your messages. MAVROS only undestand message from
https://github.com/mavlink/mavlink/tree/master/message_definitions/v1.0
You will find more help here :
https://mavlink.io/en/
https://discuss.ardupilot.org/t/mavlink-and-arduino-step-by-step/25566/2
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