Mavros install in RaspberryPi failed when compilating

I have installed ROS-Comm as the PX4 Development Guide recommended and roscore was successful,but when I installed the MAVROS package,it occurs an error when compilating,the error is:Could not find a package configuration file provided by “geometry_msgs” with any of the following names: geometry_msgsConfig.cmake,geometry_msgs-config.cmake.
Could you help me?Thank you very much!