Building mavros failed (Having tried three ways)

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I have tried to build the recent mavros package from its source. I have tried three different ways; they all failed. My OS is Ubutnu 16.04.03 LTS (xenial).

Can anyone let me know the right way to compile the package?

First try

$ git clone https://github.com/mavlink/mavros.git mavros_recent

$ catkin_make -DCATKIN_WHITELIST_PACKAGES="mavros_recent"

The compilation does not work, with the following message produced:

Multiple packages found with the same name "libmavconn":
- mavros/libmavconn
- mavros_recent/libmavconn
Multiple packages found with the same name "mavros":
- mavros/mavros
- mavros_recent/mavros

Second try

Then, I tried a more direct way.

$ cd src/mavros_recent/mavros/
$ mkdir build; cd build; cmake ..

I got an error from CMake

-- Could not find the required component 'geographic_msgs'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by "geographic_msgs"
  with any of the following names:

    geographic_msgsConfig.cmake
    geographic_msgs-config.cmake

  Add the installation prefix of "geographic_msgs" to CMAKE_PREFIX_PATH or
  set "geographic_msgs_DIR" to a directory containing one of the above files.
  If "geographic_msgs" provides a separate development package or SDK, be
  sure it has been installed.
Call Stack (most recent call first):
  CMakeLists.txt:7 (find_package)


-- Configuring incomplete, errors occurred!

Third try

According to a ROS official page

You can use rosdep and catkin to build any package in the ROS repository. Say that you want to build a package called AMAZING_PACKAGE, that you hadn't built on your machine before.

rosdep install AMAZING_PACKAGE

In my case, the amazing_package is mavros. It seems rosdep does not recognize mavros as a package, as shown from the error message below:

$rosdep install mavros

ERROR: Rosdep cannot find all required resources to answer your query
Missing resource mavros
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share

So, what's the right way to build it from source?

[EDIT] I would like to build from source, instead of use apt-get, because eventually I will need to build mavros of a special commiit hash.