MAVROS Tutorial

Hello Everyone.
I’m new in ROS. Basically I’m looking for a tutorial to run mavros.
I am using a Jetson TX2 and I have already installed ROS and MAVROS.
I have the pixhawk 4 connected to Jetson via Telem port 2.
I want to know step by step how to control the drone with MAVROS for instance: go up, down, left, right, go ahead and back.
I don’t want to use the gazebo, I want to run a test in my own drone I have.
Please, I ask for help to the community.