Hi Louis,
Welcome to the forum!
We don’t have a step-by-step guide for Mavros integration. But I was able to find some links that I think will be useful to you:
- Wiki page for Mavros.
- Issue on Mavros repo. I see that several users raised questions there.
- Mavros_msgs/CommandHome Documentation. Some of our users were also able to set the home position via Mission Planner.
- Flying drone in manual mode without GPS.
You can also check the ROS forum for any specific questions you may have.