Giving commands from MAVROS/ROS to drone

How to configure mavros to connect to the serial port we connect the telemetry please help me in doing this and also provide me some references to learn how to give commands from mavors to drone

Please make use of available resources before posting questions like this: the community is very helpful but doing your own research first both respects the time of others, and improves your own understanding.
there’s a bunch of information on the wiki and in GitHub that is easy to find
Plus a bunch of YouTube, from Randy, Pierre, Tizzy and others.
When you’ve worked through that stuff, if you’re having issues, posting specific questions about specific problems will enable the community to best help.

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