源码方式安装MAVROS包报错

跟随px4官网步骤安装MAVROS和MavLink，但是发生报错，内容如下：

--- stderr: mavros_extras                             
/home/roauslab/lzc_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp: In member function ‘void mavros::extra_plugins::GpsStatusPlugin::handle_gps2_raw(const mavlink_message_t*, mavlink::common::msg::GPS2_RAW&, mavros::plugin::filter::SystemAndOk)’:
/home/roauslab/lzc_ws/src/mavros/mavros_extras/src/plugins/gps_status.cpp:138:37: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘alt_ellipsoid’
  138 |     ros_msg.alt_ellipsoid = mav_msg.alt_ellipsoid;
      |                                     ^~~~~~~~~~~~~
/home/naor/mav_ros/src/mavros/mavros_extras/src/plugins/gps_status.cpp:139:29: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘h_acc’
  139 |     ros_msg.h_acc = mav_msg.h_acc;
      |                             ^~~~~
/home/naor/mav_ros/src/mavros/mavros_extras/src/plugins/gps_status.cpp:140:29: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘v_acc’
  140 |     ros_msg.v_acc = mav_msg.v_acc;
      |                             ^~~~~
/home/naor/mav_ros/src/mavros/mavros_extras/src/plugins/gps_status.cpp:141:31: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘vel_acc’
  141 |     ros_msg.vel_acc = mav_msg.vel_acc;
      |                               ^~~~~~~
/home/naor/mav_ros/src/mavros/mavros_extras/src/plugins/gps_status.cpp:142:31: error: ‘struct mavlink::common::msg::GPS2_RAW’ has no member named ‘hdg_acc’
  142 |     ros_msg.hdg_acc = mav_msg.hdg_acc;
      |                               ^~~~~~~
make[2]: *** [CMakeFiles/mavros_extras_plugins.dir/build.make:232: CMakeFiles/mavros_extras_plugins.dir/src/plugins/gps_status.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:136: CMakeFiles/mavros_extras_plugins.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

很明显，问题出现在编译mavros_extras这一块。经检查，发现是MavLink包过旧，导致MAVROS的依赖关系不完全。解决方案，安装最新版本的MavLink包。

官网提供的安装MavLink命令：

rosinstall_generator --rosdistro kinetic mavlink | tee /tmp/mavros.rosinstall

将其中的kinetic替换成noetic，注意不要使用--upstream，否则有可能版本不对编译不通过。修改后的安装MavLink命令如下：

rosinstall_generator --rosdistro noetic mavlink | tee /tmp/mavros.rosinstall

其他步骤不变，问题即可解决，编译正常结果如下：