Using APM 2.8 with MAVROS on a SBC. Need some help with setup

Hi, So I’m building a quad-rotor for my project using an APM 2.8 for inddor navigation and surveillance. Can you please guide me on how to setup communication between APM and SBC (raspberry pi/ Asus tinkerboard) over ROS? I cannot buy a pixhawk now. One of my friend suggested I can use mavros package to communicate to APM and override RC commands.

@atmadeep This is a px4 discussion forum. APM 2.8 can only run Ardupilot. You can find the ardupilot forum here

Ok sorry. And thank you very much.