1. 安装 ROS 2 Humble

# 设置软件源
sudo apt update && sudo apt install curl gnupg lsb-release
curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

# 安装 ROS 2 核心包
sudo apt update
sudo apt install ros-humble-desktop

2. 安装依赖项

# 安装通用依赖
sudo apt install python3-colcon-common-extensions python3-vcstool git

# 安装 MAVROS 编译依赖
sudo apt install ros-humble-geographic-msgs \
                 ros-humble-geometry-msgs \
                 ros-humble-mavlink \
                 libgeographic-dev \
                 geographiclib-tools

# 安装地理围栏数据集（必需）
wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
sudo bash ./install_geographiclib_datasets.sh

3. 创建 ROS 2 工作空间并下载源码

# 创建工作空间目录
mkdir -p ~/mavros_ws/src
cd ~/mavros_ws

# 下载 MAVROS 源码（ROS 2 Humble 分支）
git clone -b humble https://github.com/mavlink/mavros.git src/mavros

4. 解决依赖并编译

# 安装依赖
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -y

# 编译工作空间
colcon build

5. 配置环境变量

# 每次使用前需激活环境
echo "source ~/mavros_ws/install/setup.bash" >> ~/.bashrc
source ~/.bashrc

6. 测试 MAVROS 连接

启动 MAVROS 节点

# 连接到飞控（示例：通过串口或 UDP）
ros2 launch mavros apm.launch.py fcu_url:="udp://:14550@"
# 或
ros2 launch mavros px4.launch.py fcu_url:="/dev/ttyACM0:57600"

验证连接状态

ros2 topic echo /mavros/state