1. Read master branch's README.md(options)
2. sudo apt-get install python-catkin-tools python-rosinstall-generator -y

$ mkdir mavros_ws/src

$ cd mavros_ws

$ catkin init

$ cd src

$ git clone https://github.com/huanglilong/mavros

$ git clone https://github.com/huanglilong/mavlink-kinetic mavlink

$ catkin build [mavros]

Read px4's doc

$ roslaunch mavros px4.launch

Press safety switch here!

$ rosrun mavros mavsafety arm

$ rosrun mavros offb_node

$ make posix_sitl_default gazebo

$ roslaunch mavros px4.launch fcu_url:="udp://:14540@127.0.0.1:14557"

$ rqt_graph

$ rosrun rqt_topic rqt_topic