Control the drone in Indoor environment

Now, I want to control the original Drone in Indoor Environment.
My drone has Pixhawk as FCU, and ArduPilot is used as firmware.
My PC that ROS is installed, is used as host computer, and PC and pixhawk are connected by USB cable.
To control the Drone through MAVROS at NOGPS Mode, we should use XXXXX.
I want to know that are there any ROS node to satisfy such requirement?
Do you have any idea ?
If no, I will make the code to satisfy our requirement.