0.工具
sudo apt-get install python3-catkin-tools python3-rosinstall-generator -y
sudo apt install python3-wstool
sudo apt install vim
sudo apt install python3-rosdep2
1. 获取源码链接
遇到网络问题，前往https://www.ipaddress.com/ip-lookup查询raw.githubusercontent.com的ip；
sudo vim /etc/hosts
185.199.109.133 raw.githubusercontent.com
185.199.108.133 raw.githubusercontent.com
185.199.110.133 raw.githubusercontent.com
185.199.111.133 raw.githubusercontent.com
2606:50c0:8003::154 raw.githubusercontent.com
2606:50c0:8001::154 raw.githubusercontent.com
2606:50c0:8000::154 raw.githubusercontent.com
2606:50c0:8002::154 raw.githubusercontent.com
ip1 raw.githubusercontent.com
ip2 raw.githubusercontent.com
ip3 raw.githubusercontent.com
安装 MAVLink:
rosinstall_generator --rosdistro noetic mavlink | tee /tmp/mavros.rosinstall
安装 MAVROS源码:
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall
2.创建工作空间（克隆到本地ros空间下）
工作空间（若没有创建）
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
wstool init ~/catkin_ws/src
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep update
rosdep install --from-paths src --ignore-src -y
3.下载mavlink的依赖数据集
sudo ~/catkin_ws/src/mavros/mavros/scripts/install_geographiclib_datasets.sh
第一次要installing十分钟，一共3个包
4.编译
catkin build
环境变量
source ~/catkin_ws/devel/setup.bash
5.测试
roslaunch mavros px4.launch
由于硬件端口问题，报错也正常
cd ~/catkin_ws/src/mavros/mavros/launch/
cp px4.launch px4_my.launch
6.碎碎念（暂时不用）
给予权限
sudo chmod 777 /dev/ttyUSB0
修改px4.launch中的端口/dev/ttyUSB0、波特率921600（错误的话会失败或没有数据，检测不到传感器等）
运行
roslaunch mavros px4.launch
