diff --git a/.SRCINFO b/.SRCINFO
index 622b7bc..adfd0e7 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,7 +1,7 @@
 pkgbase = ros-melodic-mavros
 	pkgdesc = ROS - MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station.
-	pkgver = 0.32.2
-	pkgrel = 2
+	pkgver = 1.0.0
+	pkgrel = 1
 	url = https://wiki.ros.org/mavros
 	arch = i686
 	arch = x86_64
@@ -11,53 +11,35 @@ pkgbase = ros-melodic-mavros
 	license = GPLv3, LGPLv3, BSD
 	makedepends = cmake
 	makedepends = ros-build-tools
-	makedepends = ros-melodic-diagnostic-msgs
-	makedepends = ros-melodic-diagnostic-updater
-	makedepends = ros-melodic-mavros-msgs
-	makedepends = ros-melodic-geographic-msgs
-	makedepends = ros-melodic-tf2-eigen
-	makedepends = ros-melodic-eigen-conversions
-	makedepends = ros-melodic-angles
-	makedepends = ros-melodic-roscpp
 	makedepends = ros-melodic-catkin
-	makedepends = ros-melodic-tf2-ros
-	makedepends = ros-melodic-pluginlib
-	makedepends = ros-melodic-libmavconn
-	makedepends = ros-melodic-std-srvs
-	makedepends = ros-melodic-geometry-msgs
-	makedepends = ros-melodic-rosconsole-bridge
 	makedepends = ros-melodic-mavlink
-	makedepends = ros-melodic-nav-msgs
-	makedepends = ros-melodic-sensor-msgs
-	makedepends = ros-melodic-std-msgs
+	makedepends = ros-melodic-angles
 	makedepends = ros-melodic-cmake-modules
-	makedepends = geographiclib
 	makedepends = boost
-	makedepends = eigen3
-	depends = ros-melodic-diagnostic-msgs
+	makedepends = eigen
+	makedepends = geographiclib
 	depends = ros-melodic-diagnostic-updater
-	depends = ros-melodic-mavros-msgs
-	depends = ros-melodic-geographic-msgs
-	depends = ros-melodic-tf2-eigen
 	depends = ros-melodic-eigen-conversions
-	depends = ros-melodic-std-msgs
-	depends = ros-melodic-roscpp
-	depends = ros-melodic-tf2-ros
-	depends = ros-melodic-pluginlib
 	depends = ros-melodic-libmavconn
-	depends = ros-melodic-std-srvs
-	depends = ros-melodic-geometry-msgs
+	depends = ros-melodic-pluginlib
 	depends = ros-melodic-rosconsole-bridge
-	depends = ros-melodic-mavlink
-	depends = ros-melodic-nav-msgs
+	depends = ros-melodic-roscpp
+	depends = ros-melodic-tf2-ros
+	depends = ros-melodic-tf2-eigen
 	depends = ros-melodic-message-runtime
-	depends = ros-melodic-sensor-msgs
 	depends = ros-melodic-rospy
-	depends = geographiclib
-	depends = boost
-	depends = eigen3
-	source = ros-melodic-mavros-0.32.2.tar.gz::https://github.com/mavlink/mavros/archive/0.32.2.tar.gz
-	sha256sums = d5e04661f88896a9a77f22a083023ce5e8e13dd71c1f8f1b7d5e187b3bf6c4f8
+	depends = ros-melodic-diagnostic-msgs
+	depends = ros-melodic-geometry-msgs
+	depends = ros-melodic-mavros-msgs
+	depends = ros-melodic-nav-msgs
+	depends = ros-melodic-geographic-msgs
+	depends = ros-melodic-trajectory-msgs
+	depends = ros-melodic-std-msgs
+	depends = ros-melodic-std-srvs
+	depends = ros-melodic-rosunit
+	depends = gtest
+	source = ros-melodic-mavros-1.0.0.tar.gz::https://github.com/mavlink/mavros/archive/1.0.0.tar.gz
+	sha256sums = 08c911a3e92990e260ab25715b6605303b1ac52a8de0e3b0f504bcfab6390b0d
 
 pkgname = ros-melodic-mavros
 
diff --git a/PKGBUILD b/PKGBUILD
index 0cb3c0a..ae0ca95 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -1,74 +1,61 @@
 # Script generated with import_catkin_packages.py
 # For more information: https://github.com/bchretien/arch-ros-stacks
-pkgdesc="ROS - MAVROS -- MAVLink extendable communication node for ROS with proxy for Ground Control Station."
+pkgdesc="ROS - MAVROS -- MAVLink extendable communication node for ROS with
+proxy for Ground Control Station."
 url='https://wiki.ros.org/mavros'
 
 pkgname='ros-melodic-mavros'
-pkgver='0.32.2'
+pkgver='1.0.0'
 arch=('i686' 'x86_64' 'aarch64' 'armv7h' 'armv6h')
-pkgrel=2
+pkgrel=1
 license=('GPLv3, LGPLv3, BSD')
 
-ros_makedepends=(ros-melodic-diagnostic-msgs
-  ros-melodic-diagnostic-updater
-  ros-melodic-mavros-msgs
-  ros-melodic-geographic-msgs
-  ros-melodic-tf2-eigen
-  ros-melodic-eigen-conversions
-  ros-melodic-angles
-  ros-melodic-roscpp
+ros_makedepends=(
   ros-melodic-catkin
-  ros-melodic-tf2-ros
-  ros-melodic-pluginlib
-  ros-melodic-libmavconn
-  ros-melodic-std-srvs
-  ros-melodic-geometry-msgs
-  ros-melodic-rosconsole-bridge
   ros-melodic-mavlink
-  ros-melodic-nav-msgs
-  ros-melodic-sensor-msgs
-  ros-melodic-std-msgs
-  ros-melodic-cmake-modules)
-makedepends=('cmake' 'ros-build-tools'
+  ros-melodic-angles
+  ros-melodic-cmake-modules
+)
+
+makedepends=(
+  cmake
+  ros-build-tools
   ${ros_makedepends[@]}
-  geographiclib
   boost
-  eigen3)
+  eigen
+  geographiclib
+)
 
-ros_depends=(ros-melodic-diagnostic-msgs
+ros_depends=(
   ros-melodic-diagnostic-updater
-  ros-melodic-mavros-msgs
-  ros-melodic-geographic-msgs
-  ros-melodic-tf2-eigen
   ros-melodic-eigen-conversions
-  ros-melodic-std-msgs
+  ros-melodic-libmavconn
+  ros-melodic-pluginlib
+  ros-melodic-rosconsole-bridge
   ros-melodic-roscpp
   ros-melodic-tf2-ros
-  ros-melodic-pluginlib
-  ros-melodic-libmavconn
-  ros-melodic-std-srvs
+  ros-melodic-tf2-eigen
+  ros-melodic-message-runtime
+  ros-melodic-rospy
+  ros-melodic-diagnostic-msgs
   ros-melodic-geometry-msgs
-  ros-melodic-rosconsole-bridge
-  ros-melodic-mavlink
+  ros-melodic-mavros-msgs
   ros-melodic-nav-msgs
-  ros-melodic-message-runtime
-  ros-melodic-sensor-msgs
-  ros-melodic-rospy)
-depends=(${ros_depends[@]}
-  geographiclib
-  boost
-  eigen3)
+  ros-melodic-geographic-msgs
+  ros-melodic-trajectory-msgs
+  ros-melodic-std-msgs
+  ros-melodic-std-srvs
+  ros-melodic-rosunit
+)
 
-# Git version (e.g. for debugging)
-# _tag=release/melodic/mavros/${pkgver}-${_pkgver_patch}
-# _dir=${pkgname}
-# source=("${_dir}"::"git+https://github.com/mavlink/mavros-release.git"#tag=${_tag})
-# sha256sums=('SKIP')
+depends=(
+  ${ros_depends[@]}
+  gtest
+)
 
-# Tarball version (faster download)
 _dir="mavros-${pkgver}/mavros"
 source=("${pkgname}-${pkgver}.tar.gz"::"https://github.com/mavlink/mavros/archive/${pkgver}.tar.gz")
-sha256sums=('d5e04661f88896a9a77f22a083023ce5e8e13dd71c1f8f1b7d5e187b3bf6c4f8')
+sha256sums=('08c911a3e92990e260ab25715b6605303b1ac52a8de0e3b0f504bcfab6390b0d')
 
 build() {
   # Use ROS environment variables