Orbital angular momentum (OAM) at radio frequency (RF) provides a novel approach of multiplexing a set of orthogonal modes on the same frequency channel to achieve high spectrum efficiencies. However, there are still big challenges in the multi-mode OAM generation, OAM antenna alignment and OAM signal reception. To solve these problems, we propose an overall scheme of the line-of-sight multi-carrier and multi-mode OAM (LoS MCMM-OAM) communication based on uniform circular arrays (UCAs). First, we verify that UCA can generate multi-mode OAM radio beam with both the RF analog synthesis method and the baseband digital synthesis method. Then, for the considered UCA-based LoS MCMM-OAM communication system, a distance and AoA estimation method is proposed based on the two-dimensional ESPRIT (2-D ESPRIT) algorithm. A salient feature of the proposed LoS MCMM-OAM and LoS MCMM-OAM-MIMO systems is that the channel matrices are completely characterized by three parameters, namely, the azimuth angle, the elevation angle and the distance, independent of the numbers of subcarriers and antennas, which significantly reduces the burden by avoiding estimating large channel matrices, as traditional MIMO-OFDM systems. After that, we propose an OAM reception scheme including the beam steering with the estimated AoA and the amplitude detection with the estimated distance. At last, the proposed methods are extended to the LoS MCMM-OAM-MIMO system equipped with uniform concentric circular arrays (UCCAs). Both mathematical analysis and simulation results validate that the proposed OAM reception scheme can eliminate the effect of the misalignment error of a practical OAM channel and approaches the performance of an ideally aligned OAM channel.