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Using APM 2.8 with ROS for an indoor autonomous drone project? Need help setting up

Hi, So I’m building a quad-rotor for my project using an APM 2.8 for inddor navigation and surveillance. Can you please guide me on how to setup communication between APM and SBC (raspberry pi/ Asus tinkerboard) over ROS ? I’ve accidentally burnt one of my APM 2.8. One of my friend suggested I can use mavros package to communicate to APM and override RC commands.

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