Mavros only write mavlink message on serial nothing more.
What you want is basic mavlink routing. You want to send a message from a mavlink device to another
Mavros will connect to only one mavlink ID.
So you need :
Mavros ( id=1,cmpnt=255)< - - uart - - > device (1,1) <--uart--> device2 (2,1) <-- uart--> mavros (2,255)
Normally, mavros filter messages by id via ros plugin api. You can easily add more plugin to handle more message or catch messages from /mavlink_from
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