源码获取

直接从github下载源码包mavros-2.6.0.tar.gz
拷贝到ubuntu22的树莓派中， 解压

tar -xf mavros-2.6.0.tar.gz

进入项目中

cd mavros-2.6.0

总共需要编译两个文件包

mavros 
mavros_msgs

先编译mavros_msgs

colcon build --packages-select mavros_msgs

这步一般不会报错
编译完后source一下

source install/setup.sh

编译mavros

colcon build --packages-select mavros

中间可能要安装很多依赖，总结如下

sudo apt-get install ros-kinetic-mavlink
sudo apt-get install geographiclib-tools
sudo apt-get install ros-humble-geographic-msgs
sudo apt-get install ros-humble-libmavconn
sudo apt-get install ros-humble-geographic-*
sudo apt-get install geographiclib-*
sudo apt-get install libgeographic-*
sudo apt-get install ros-humble-eigen-stl-containers 
sudo apt-get install ros-humble-diagnostic-updater

最后source一下

运行

修改串口名称和波特率，最后

ros2 launch mavros apm.launch