笔者在armbian-Bionic下安装通过，理论上所有基于Ubuntu-Bionic的系统都可照此步骤安装

调整swap大小

• armbian

  sudo vim /etc/default/armbian-zram-config
  ZRAM_PERCENTAGE=XXX     
  MEM_LIMIT_PERCENTAGE=XXX
  ZRAM_MAX_DEVICES=XXX

• raspios

  sudo vim /etc/dphys-swapfile
  # 将100改为1024，单位MB
  CONF_SWAPSIZE=1024
  # save and exit 
  #开关一下，使之生效
  sudo /etc/init.d/dphys-swapfile stop
  sudo /etc/init.d/dphys-swapfile start

安装ROS Melodic

参照

树莓派4b 安装buster系统 安装ROS与MAVROS 连接pixhawk飞控
在树莓派上ROS MAVROS的安装使用

• 加入ROS源(使用清华镜像源)

  sudo sh -c 'echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

• 添加GPG Key

  sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

• sudo apt update&&sudo apt upgrade

• 安装Bootstrap依赖

  sudo apt install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential cmake

• 安装rosdep（包管理器）

  sudo rosdep init
  rosdep update

• 创建一个catkin工作区

  mkdir~ / ros_catkin_ws
  cd~ / ros_catkin_w

• 构建包和库

  选择安装ROS-Comm以实现最小化安装。
  ROS-Comm：ROS包，构建和通信库。没有GUI工具。

  rosinstall_generator ros_comm --rosdistro melodic --deps --tar > melodic-ros_comm.rosinstall
  wstool init -j8 src melodic-ros_comm.rosinstall
  wstool update -j4 -t src

  额外的软件安装

  mkdir -p ~/ros_catkin_ws/external_src
  cd ~/ros_catkin_ws/external_src
  wget    http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip
  unzip assimp-3.1.1_no_test_models.zip
  cd assimp-3.1.1
  cmake .
  make
  sudo make install

  安装ROS

  cd ~/ros_catkin_ws
  rosdep install --from-paths src --ignore-src --rosdistro melodic -y
  sudo ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/melodic -j1

• 将ROS环境导入到bashrc

  echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
  source ~/.bashrc

• 输入 roscore 查看安装结果

安装MAVROS Melodic

参考

官方教程
NaiveWizard的博客

• 安装

  sudo apt-get install python-catkin-tools python-rosinstall-generator -y
  
  mkdir -p ~/mavros_catkin_ws/src
  cd ~/mavros_catkin_ws
  
  catkin init
  wstool init src
  
  rosinstall_generator --rosdistro melodic mavlink | tee /tmp/mavros.rosinstall
  rosinstall_generator --upstream-development mavros mavros_extras mavros_msgs test_mavros sensor_msgs  control_toolbox realtime_tools tf tf2_ros python_orocos_kdl urdf |tee -a /tmp/mavros.rosinstall
  
  wstool merge -t src /tmp/mavros.rosinstall
  wstool update -t src -j4
  rosdep install --from-paths src --ignore-src -y
  
  sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh
  
  catkin build -j1 #多线程orangePiZeroPlus顶不住

• 连接飞控

  cd ~/mavros_catkin_ws
  source devel/setup.bash
  roslaunch mavros px4.launch fcu_url:=/dev/ttyACM0:57600