MAVROS::Altitude still a valid message?

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Issue details

I am working on an altitude filter fusing imu, lidar and if possible altitude provided by the barometer. From my understanding mavros::altitude is providing the altitude from the barometer. I removed it from the blacklist and it appears when I do rostopic list:

<fabrice@fabrice-N650DU:~$

 rostopic list
/diagnostics
/mavlink/from
/mavlink/to
/mavros/adsb/send
/mavros/adsb/vehicle
/mavros/altitude
/mavros/battery
/mavros/cam_imu_sync/cam_imu_stamp
/mavros/distance_sensor/rangefinder_pub
/mavros/distance_sensor/rangefinder_sub
/mavros/extended_state
/mavros/fake_gps/mocap/tf
/mavros/global_position/compass_hdg
/mavros/global_position/global
/mavros/global_position/gp_lp_offset
/mavros/global_position/gp_origin
/mavros/global_position/home
/mavros/global_position/local
/mavros/global_position/raw/fix

But when I entered rostopic echo /mavros/altitude I got the following message:

<fabrice@fabrice-N650DU:~$ rostopic echo /mavros/altitude 
ERROR: Cannot load message class for [mavros_msgs/Altitude]. Are your messages built?>

I would like to know if this message is still valid, and if so how to built it?

Thank you for your support

MAVROS version and platform

Mavros: 0.18.4 ROS: Kinetic Ubuntu: 16.04

Autopilot type and version

[ ] ArduPilot [ x ] PX4

Version: 1.8.1

Node logs


roslaunch mavros apm2.launch 

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 0.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 0.0
 * /mavros/distance_sensor/rangefinder_pub/field_of_view: 0.0
 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
 * /mavros/distance_sensor/rangefinder_pub/id: 0
 * /mavros/distance_sensor/rangefinder_pub/send_tf: False
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/rangefinder_sub/id: 1
 * /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
 * /mavros/distance_sensor/rangefinder_sub/subscriber: True
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: /dev/ttyUSB0:921600
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/gps_uere: 1.0
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.000349065850399
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['actuator_contro...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682389136
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/mav_frame: LOCAL_NED
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: False
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: NONE
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: map
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: True
 * /mavros/vision_speed/twist_cov: True
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

NODES
  /
    mavros (mavros/mavros_node)

auto-starting new master
process[master]: started with pid [28239]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to fbf17f58-ef2e-11e8-9797-b0359f2c094d
WARNING: Catkin package name "droneAltitudeFiltering" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, and underscores.
process[rosout-1]: started with pid [28252]
started core service [/rosout]
process[mavros-2]: started with pid [28270]
[ INFO] [1542984571.769420842]: FCU URL: /dev/ttyUSB0:921600
[ INFO] [1542984571.771158832]: serial0: device: /dev/ttyUSB0 @ 921600 bps
[ INFO] [1542984571.796566342]: GCS bridge disabled
[ INFO] [1542984571.834573712]: Plugin 3dr_radio loaded
[ INFO] [1542984571.836857219]: Plugin 3dr_radio initialized
[ INFO] [1542984571.836879286]: Plugin actuator_control blacklisted
[ INFO] [1542984571.862718954]: Plugin adsb loaded
[ INFO] [1542984571.868420305]: Plugin adsb initialized
[ INFO] [1542984571.868590831]: Plugin altitude loaded
[ INFO] [1542984571.869675344]: Plugin altitude initialized
[ INFO] [1542984571.869786734]: Plugin cam_imu_sync loaded
[ INFO] [1542984571.870456818]: Plugin cam_imu_sync initialized
[ INFO] [1542984571.870613130]: Plugin command loaded
[ INFO] [1542984571.875652705]: Plugin command initialized
[ INFO] [1542984571.875674909]: Plugin debug_value blacklisted
[ INFO] [1542984571.875822197]: Plugin distance_sensor loaded
[ INFO] [1542984571.884973831]: Plugin distance_sensor initialized
[ INFO] [1542984571.885143943]: Plugin fake_gps loaded
[ INFO] [1542984571.902283805]: Plugin fake_gps initialized
[ INFO] [1542984571.902413612]: Plugin ftp blacklisted
[ INFO] [1542984571.902565006]: Plugin global_position loaded
[ INFO] [1542984571.919217802]: Plugin global_position initialized
[ INFO] [1542984571.919373179]: Plugin gps_rtk loaded
[ INFO] [1542984571.921877479]: Plugin gps_rtk initialized
[ INFO] [1542984571.921900703]: Plugin hil blacklisted
[ INFO] [1542984571.922040542]: Plugin home_position loaded
[ INFO] [1542984571.927069978]: Plugin home_position initialized
[ INFO] [1542984571.927477004]: Plugin imu loaded
[ INFO] [1542984571.937342156]: Plugin imu initialized
[ INFO] [1542984571.937505711]: Plugin local_position loaded
[ INFO] [1542984571.942713525]: Plugin local_position initialized
[ INFO] [1542984571.942845133]: Plugin log_transfer loaded
[ INFO] [1542984571.945916707]: Plugin log_transfer initialized
[ INFO] [1542984571.946063137]: Plugin manual_control loaded
[ INFO] [1542984571.949294626]: Plugin manual_control initialized
[ INFO] [1542984571.949419557]: Plugin mocap_pose_estimate loaded
[ INFO] [1542984571.953551299]: Plugin mocap_pose_estimate initialized
[ INFO] [1542984571.953677118]: Plugin obstacle_distance loaded
[ INFO] [1542984571.956437010]: Plugin obstacle_distance initialized
[ INFO] [1542984571.956620765]: Plugin odom loaded
[ INFO] [1542984571.962812786]: Plugin odom initialized
[ INFO] [1542984571.963052010]: Plugin param loaded
[ INFO] [1542984571.965739226]: Plugin param initialized
[ INFO] [1542984571.965871983]: Plugin px4flow loaded
[ INFO] [1542984571.973116385]: Plugin px4flow initialized
[ INFO] [1542984571.973254926]: Plugin rangefinder loaded
[ INFO] [1542984571.973968721]: Plugin rangefinder initialized
[ INFO] [1542984571.974136971]: Plugin rc_io loaded
[ INFO] [1542984571.978125863]: Plugin rc_io initialized
[ INFO] [1542984571.978152268]: Plugin safety_area blacklisted
[ INFO] [1542984571.978324233]: Plugin setpoint_accel loaded
[ INFO] [1542984571.981894768]: Plugin setpoint_accel initialized
[ INFO] [1542984571.982134515]: Plugin setpoint_attitude loaded
[ INFO] [1542984571.997069449]: Plugin setpoint_attitude initialized
[ INFO] [1542984571.997269080]: Plugin setpoint_position loaded
[ INFO] [1542984572.010886077]: Plugin setpoint_position initialized
[ INFO] [1542984572.011057499]: Plugin setpoint_raw loaded
[ INFO] [1542984572.020691776]: Plugin setpoint_raw initialized
[ INFO] [1542984572.020876055]: Plugin setpoint_velocity loaded
[ INFO] [1542984572.029995771]: Plugin setpoint_velocity initialized
[ INFO] [1542984572.030283158]: Plugin sys_status loaded
[ INFO] [1542984572.039996719]: Plugin sys_status initialized
[ INFO] [1542984572.040175774]: Plugin sys_time loaded
[ INFO] [1542984572.046254945]: TM: Timesync mode: NONE
[ INFO] [1542984572.047685313]: Plugin sys_time initialized
[ INFO] [1542984572.047820234]: Plugin trajectory loaded
[ INFO] [1542984572.055584852]: Plugin trajectory initialized
[ INFO] [1542984572.055796170]: Plugin vfr_hud loaded
[ INFO] [1542984572.057495624]: Plugin vfr_hud initialized
[ INFO] [1542984572.057649041]: Plugin vibration blacklisted
[ INFO] [1542984572.057810464]: Plugin vision_pose_estimate loaded
[ INFO] [1542984572.065753803]: Plugin vision_pose_estimate initialized
[ INFO] [1542984572.065782396]: Plugin vision_speed_estimate blacklisted
[ INFO] [1542984572.065938960]: Plugin waypoint loaded
[ INFO] [1542984572.070658776]: Plugin waypoint initialized
[ INFO] [1542984572.070833061]: Plugin wind_estimation loaded
[ INFO] [1542984572.071577258]: Plugin wind_estimation initialized
[ INFO] [1542984572.071652263]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1542984572.071668395]: Built-in MAVLink package version: 2018.10.10
[ INFO] [1542984572.071688945]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
[ INFO] [1542984572.071703225]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1542984572.083378902]: IMU: High resolution IMU detected!
[ INFO] [1542984572.092522472]: IMU: Attitude quaternion IMU detected!
[ INFO] [1542984572.913443774]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1542984572.924178386]: IMU: High resolution IMU detected!
[ INFO] [1542984572.926135525]: IMU: Attitude quaternion IMU detected!
[ INFO] [1542984573.923436484]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1542984573.923506219]: VER: 1.1: Flight software:     010801ff (00000000FCA29321)
[ INFO] [1542984573.923535275]: VER: 1.1: Middleware software: 010801ff (00000000FCA29321)
[ INFO] [1542984573.923597331]: VER: 1.1: OS software:         071600ff (0000000000000000)
[ INFO] [1542984573.923638068]: VER: 1.1: Board hardware:      00000011
[ INFO] [1542984573.923670181]: VER: 1.1: VID/PID:             26ac:0011
[ INFO] [1542984573.923692816]: VER: 1.1: UID:                 3136510f34313630
[ WARN] [1542984573.932444279]: CMD: Unexpected command 520, result 0
[ INFO] [1542984582.914598468]: HP: requesting home position
[ INFO] [1542984587.920481393]: WP: mission received
[ INFO] [1542984592.914261692]: HP: requesting home position

mavlink / mavros