This tutorial aims to provide guides begining at building a drone from kits and ending at controlling a drone autonomouly with Vicon.

1. Assembly It introduces the drone kit used in this tutorial and introduce key steps to build it.

2. Setup Simulation with ROS PX4 It explains how to install and configure PX4, ROS and ROS packages for simulation.

3. Setup Simulation for PX4 in Gazebo It shows how to setup PX4-Gazebo simulation environment and provide some developed packages.

4. Setup onboard computer for experiment It demonstrates steps to add an onboard computer to a drone. It includes how to power it within the power system of Pixhawk and how to enable ROS communication among it, Pixhawk and base station.

5. Add more devices to drone in experiment It suggests what to do if more addional devices are to be added to a drone to extend its functions.

6. Setup and use Vicon system It gives an idea of how to use a motion capture system for drone experiments.

7. Use mavros_controller It explains how the drone control package mavros_controller is designed and what to do to implement it in experiment.

8. ROS2 and PX4 It aims to move every drone techniques in ROS to ROS2.