#1准备环境
sudo apt-get install python-catkin-tools python-rosinstall-generator -y
sudo apt-get update
sudo apt-get install python3-catkin-tools  #这里看情况用python还是python3

#2ros文件准备
mkdir -p ~/pwx4_ws/src
cd ~/pwx4_ws
catkin_make

#3
rosinstall_generator --rosdistro noetic mavlink | tee /tmp/mavros.rosinstall
rosinstall_generator --upstream mavros | tee -a /tmp/mavros.rosinstall

#4
wstool merge -t src /tmp/mavros.rosinstall
wstool update -t src -j4
rosdep install --from-paths src --ignore-src -y

#5
sudo bash ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh

#6
catkin_make           #1，普通编译
catkin_make_isolated  #2，隔离编译
catkin build          #3，最好的编译

#7
source devel/setup.bash