mavros connected False SITL Gazebo

[crazy-robotics]

I am using following repo dronedoc. and launch the iris model by roslaunch dronedoc iris_moveit_3.launch here is my terminal output

mubashir@mubashir:~/moveit_iris/src/dronedoc/dronedoc$ roslaunch dronedoc iris_moveit_3.launch 
... logging to /home/mubashir/.ros/log/85ff618e-02fa-11f0-a555-e3b56fe9d41c/roslaunch-mubashir-28240.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://mubashir:35569/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /mavros/camera/frame_id: base_link
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/horizontal_fov_ratio: 1.0
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/distance_sensor/sonar_1_sub/vertical_fov_ratio: 1.0
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://:14540@127....
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/gps_uere: 1.0
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/landing_target/camera/fov_x: 2.0071286398
 * /mavros/landing_target/camera/fov_y: 2.0071286398
 * /mavros/landing_target/image/height: 480
 * /mavros/landing_target/image/width: 640
 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /mavros/landing_target/listen_lt: False
 * /mavros/landing_target/mav_frame: LOCAL_NED
 * /mavros/landing_target/target_size/x: 0.3
 * /mavros/landing_target/target_size/y: 0.3
 * /mavros/landing_target/tf/child_frame_id: camera_center
 * /mavros/landing_target/tf/frame_id: landing_target
 * /mavros/landing_target/tf/listen: False
 * /mavros/landing_target/tf/rate_limit: 10.0
 * /mavros/landing_target/tf/send: True
 * /mavros/local_position/frame_id: base_link
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: True
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mission/use_mission_item_int: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/mount/debounce_s: 4.0
 * /mavros/mount/err_threshold_deg: 10.0
 * /mavros/mount/negate_measured_pitch: False
 * /mavros/mount/negate_measured_roll: False
 * /mavros/mount/negate_measured_yaw: False
 * /mavros/odometry/fcu/map_id_des: map
 * /mavros/odometry/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: odom
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/mav_frame: LOCAL_NED
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/setpoint_raw/thrust_scaling: 1.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: False
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: MAVLINK
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: odom
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: True
 * /mavros/vision_speed/twist_cov: True
 * /mavros/wheel_odometry/child_frame_id: base_link
 * /mavros/wheel_odometry/count: 2
 * /mavros/wheel_odometry/frame_id: odom
 * /mavros/wheel_odometry/send_raw: True
 * /mavros/wheel_odometry/send_twist: False
 * /mavros/wheel_odometry/tf/child_frame_id: base_link
 * /mavros/wheel_odometry/tf/frame_id: odom
 * /mavros/wheel_odometry/tf/send: False
 * /mavros/wheel_odometry/use_rpm: False
 * /mavros/wheel_odometry/vel_error: 0.1
 * /mavros/wheel_odometry/wheel0/radius: 0.05
 * /mavros/wheel_odometry/wheel0/x: 0.0
 * /mavros/wheel_odometry/wheel0/y: -0.15
 * /mavros/wheel_odometry/wheel1/radius: 0.05
 * /mavros/wheel_odometry/wheel1/x: 0.0
 * /mavros/wheel_odometry/wheel1/y: 0.15
 * /robot_description: <?xml version="1....
 * /robot_description_sitl: <?xml version="1....
 * /rosdistro: noetic
 * /rosversion: 1.17.0
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    mavros (mavros/mavros_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    sitl (px4/px4)
    vehicle_spawn_mubashir_28240_3699979640626731690 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [28252]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 85ff618e-02fa-11f0-a555-e3b56fe9d41c
process[rosout-1]: started with pid [28262]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [28270]
process[robot_state_publisher-3]: started with pid [28271]
process[sitl-4]: started with pid [28278]

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
process[gazebo-5]: started with pid [28288]
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=10015
process[gazebo_gui-6]: started with pid [28300]
INFO  [param] selected parameter default file parameters.bson
INFO  [param] importing from 'parameters.bson'
INFO  [parameters] BSON document size 392 bytes, decoded 392 bytes (INT32:17, FLOAT:3)
INFO  [param] selected parameter backup file parameters_backup.bson
process[vehicle_spawn_mubashir_28240_3699979640626731690-7]: started with pid [28310]
process[mavros-8]: started with pid [28316]
INFO  [dataman] data manager file './dataman' size is 7872608 bytes
[ INFO] [1742193547.201871340]: FCU URL: udp://:[email protected]:14540
[ INFO] [1742193547.204235706]: udp0: Bind address: 0.0.0.0:14540
[ INFO] [1742193547.204325736]: udp0: Remote address: 127.0.0.1:14540
[ INFO] [1742193547.204406054]: GCS bridge disabled
INFO  [init] PX4_SIM_HOSTNAME: localhost
[ INFO] [1742193547.216026491]: Plugin 3dr_radio loaded
INFO  [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
[ INFO] [1742193547.218251826]: Plugin 3dr_radio initialized
[ INFO] [1742193547.218342041]: Plugin actuator_control loaded
[ INFO] [1742193547.220668102]: Plugin actuator_control initialized
[ INFO] [1742193547.225024819]: Plugin adsb loaded
[ INFO] [1742193547.227610929]: Plugin adsb initialized
[ INFO] [1742193547.227743253]: Plugin altitude loaded
[ INFO] [1742193547.228633463]: Plugin altitude initialized
[ INFO] [1742193547.228711342]: Plugin cam_imu_sync loaded
[ INFO] [1742193547.229121789]: Plugin cam_imu_sync initialized
[ INFO] [1742193547.229201432]: Plugin camera loaded
[ INFO] [1742193547.229678410]: Plugin camera initialized
[ INFO] [1742193547.229751543]: Plugin cellular_status loaded
[ INFO] [1742193547.232092599]: Plugin cellular_status initialized
[ INFO] [1742193547.232249652]: Plugin command loaded
[ INFO] [1742193547.236534742]: Plugin command initialized
[ INFO] [1742193547.236638673]: Plugin companion_process_status loaded
[ INFO] [1742193547.237724852]: Plugin companion_process_status initialized
[ INFO] [1742193547.237792146]: Plugin debug_value loaded
[ INFO] [1742193547.240740583]: Plugin debug_value initialized
[ INFO] [1742193547.240770437]: Plugin distance_sensor blacklisted
[ INFO] [1742193547.240838619]: Plugin esc_status loaded
[ INFO] [1742193547.241582533]: Plugin esc_status initialized
[ INFO] [1742193547.241690689]: Plugin esc_telemetry loaded
[ INFO] [1742193547.242040134]: Plugin esc_telemetry initialized
[ INFO] [1742193547.242132705]: Plugin fake_gps loaded
[ INFO] [1742193547.249387594]: Plugin fake_gps initialized
[ INFO] [1742193547.249511321]: Plugin ftp loaded
[ INFO] [1742193547.254291886]: Plugin ftp initialized
[ INFO] [1742193547.254392948]: Plugin geofence loaded
[ INFO] [1742193547.256622249]: Plugin geofence initialized
[ INFO] [1742193547.256734779]: Plugin global_position loaded
[ INFO] [1742193547.263504188]: Plugin global_position initialized
[ INFO] [1742193547.263613650]: Plugin gps_input loaded
[ INFO] [1742193547.264546246]: Plugin gps_input initialized
[ INFO] [1742193547.264609639]: Plugin gps_rtk loaded
[ INFO] [1742193547.266005169]: Plugin gps_rtk initialized
[ INFO] [1742193547.266090418]: Plugin gps_status loaded
[ INFO] [1742193547.268208106]: Plugin gps_status initialized
[ INFO] [1742193547.268305905]: Plugin guided_target loaded
[ INFO] [1742193547.271625024]: Plugin guided_target initialized
[ INFO] [1742193547.271729860]: Plugin hil loaded
[ INFO] [1742193547.277713426]: Plugin hil initialized
[ INFO] [1742193547.277819520]: Plugin home_position loaded
[ INFO] [1742193547.279213323]: Plugin home_position initialized
[ INFO] [1742193547.279318118]: Plugin imu loaded
[ INFO] [1742193547.281967062]: Plugin imu initialized
[ INFO] [1742193547.282051002]: Plugin landing_target loaded
[ INFO] [1742193547.288935781]: Plugin landing_target initialized
[ INFO] [1742193547.289034250]: Plugin local_position loaded
[ INFO] [1742193547.293414765]: Plugin local_position initialized
[ INFO] [1742193547.293508810]: Plugin log_transfer loaded
[ INFO] [1742193547.296259429]: Plugin log_transfer initialized
[ INFO] [1742193547.296344277]: Plugin mag_calibration_status loaded
[ INFO] [1742193547.296920214]: Plugin mag_calibration_status initialized
[ INFO] [1742193547.296990804]: Plugin manual_control loaded
[ INFO] [1742193547.298194845]: Plugin manual_control initialized
[ INFO] [1742193547.298288906]: Plugin mocap_pose_estimate loaded
[ INFO] [1742193547.299590926]: Plugin mocap_pose_estimate initialized
[ INFO] [1742193547.299672706]: Plugin mount_control loaded
[ WARN] [1742193547.301655136]: Could not retrive negate_measured_roll parameter value, using default (0)
[ WARN] [1742193547.301988595]: Could not retrive negate_measured_pitch parameter value, using default (0)
[ WARN] [1742193547.302255687]: Could not retrive negate_measured_yaw parameter value, using default (0)
[ WARN] [1742193547.303197572]: Could not retrive debounce_s parameter value, using default (4.000000)
[ WARN] [1742193547.303462029]: Could not retrive err_threshold_deg parameter value, using default (10.000000)
[ INFO] [1742193547.303507868]: Plugin mount_control initialized
[ INFO] [1742193547.303595533]: Plugin nav_controller_output loaded
[ INFO] [1742193547.304035637]: Plugin nav_controller_output initialized
[ INFO] [1742193547.304114519]: Plugin obstacle_distance loaded
[ INFO] [1742193547.305828708]: Plugin obstacle_distance initialized
[ INFO] [1742193547.305911947]: Plugin odom loaded
[ INFO] [1742193547.307754553]: Plugin odom initialized
[ INFO] [1742193547.307832828]: Plugin onboard_computer_status loaded
[ INFO] [1742193547.308612690]: Plugin onboard_computer_status initialized
[ INFO] [1742193547.308726258]: Plugin param loaded
[ INFO] [1742193547.309924269]: Plugin param initialized
[ INFO] [1742193547.310003619]: Plugin play_tune loaded
[ INFO] [1742193547.310798650]: Plugin play_tune initialized
[ INFO] [1742193547.310866300]: Plugin px4flow loaded
[ INFO] [1742193547.313092567]: Plugin px4flow initialized
[ INFO] [1742193547.313170816]: Plugin rallypoint loaded
[ INFO] [1742193547.314367711]: Plugin rallypoint initialized
[ INFO] [1742193547.314400600]: Plugin rangefinder blacklisted
[ INFO] [1742193547.314479240]: Plugin rc_io loaded
[ INFO] [1742193547.315721860]: Plugin rc_io initialized
[ INFO] [1742193547.315804641]: Plugin safety_area blacklisted
[ INFO] [1742193547.315914084]: Plugin setpoint_accel loaded
[ INFO] [1742193547.316922931]: Plugin setpoint_accel initialized
[ INFO] [1742193547.317013678]: Plugin setpoint_attitude loaded
[ INFO] [1742193547.320042368]: Plugin setpoint_attitude initialized
[ INFO] [1742193547.320116339]: Plugin setpoint_position loaded
[ INFO] [1742193547.325648044]: Plugin setpoint_position initialized
[ INFO] [1742193547.325764105]: Plugin setpoint_raw loaded
[ INFO] [1742193547.329341157]: Plugin setpoint_raw initialized
[ INFO] [1742193547.329455377]: Plugin setpoint_trajectory loaded
[ INFO] [1742193547.331797855]: Plugin setpoint_trajectory initialized
[ INFO] [1742193547.331896075]: Plugin setpoint_velocity loaded
[ INFO] [1742193547.335040786]: Plugin setpoint_velocity initialized
[ INFO] [1742193547.335176074]: Plugin sys_status loaded
[ INFO] [1742193547.340902237]: Plugin sys_status initialized
[ INFO] [1742193547.340992857]: Plugin sys_time loaded
[ INFO] [1742193547.342768851]: TM: Timesync mode: MAVLINK
[ INFO] [1742193547.342920416]: TM: Not publishing sim time
[ INFO] [1742193547.343451671]: Plugin sys_time initialized
[ INFO] [1742193547.343560249]: Plugin terrain loaded
[ INFO] [1742193547.343825431]: Plugin terrain initialized
[ INFO] [1742193547.343891714]: Plugin trajectory loaded
[ INFO] [1742193547.347187461]: Plugin trajectory initialized
[ INFO] [1742193547.347331043]: Plugin tunnel loaded
[ INFO] [1742193547.350643923]: Plugin tunnel initialized
[ INFO] [1742193547.350723237]: Plugin vfr_hud loaded
[ INFO] [1742193547.351202809]: Plugin vfr_hud initialized
[ INFO] [1742193547.351215783]: Plugin vibration blacklisted
[ INFO] [1742193547.351262776]: Plugin vision_pose_estimate loaded
[ INFO] [1742193547.356128193]: Plugin vision_pose_estimate initialized
[ INFO] [1742193547.356190491]: Plugin vision_speed_estimate loaded
[ INFO] [1742193547.358189007]: Plugin vision_speed_estimate initialized
[ INFO] [1742193547.358272909]: Plugin waypoint loaded
[ INFO] [1742193547.360680177]: Plugin waypoint initialized
[ INFO] [1742193547.360698900]: Plugin wheel_odometry blacklisted
[ INFO] [1742193547.360755879]: Plugin wind_estimation loaded
[ INFO] [1742193547.361049684]: Plugin wind_estimation initialized
[ INFO] [1742193547.361118504]: Built-in SIMD instructions: SSE, SSE2
[ INFO] [1742193547.361130805]: Built-in MAVLink package version: 2024.10.10
[ INFO] [1742193547.361145899]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all csAirLink cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[ INFO] [1742193547.361160147]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[INFO] [1742193547.408660, 0.000000]: Loading model XML from ros parameter robot_description_sitl
[INFO] [1742193547.412738, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1742193547.443726617]: udp0: Remote address: 127.0.0.1:14540
[ INFO] [1742193547.522953435]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1742193547.524177919]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1742193547.571590076]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1742193547.572631171]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[ INFO] [1742193547.812735892]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1742193547.829941524, 0.016000000]: Physics dynamic reconfigure ready.
[INFO] [1742193548.016958, 0.200000]: Calling service /gazebo/spawn_urdf_model
[ WARN] [1742193548.073853358, 0.260000000]: TM : RTT too high for timesync: 260.00 ms.
[INFO] [1742193548.235531, 0.368000]: Spawn status: SpawnModel: Successfully spawned entity
[vehicle_spawn_mubashir_28240_3699979640626731690-7] process has finished cleanly
log file: /home/mubashir/.ros/log/85ff618e-02fa-11f0-a555-e3b56fe9d41c/vehicle_spawn_mubashir_28240_3699979640626731690-7*.log
[ INFO] [1742193549.755128482, 0.368000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1742193549.757070132, 0.368000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""

when I check mavros state it always showed false

mubashir@mubashir:~/PX4-Autopilot$ rostopic echo /mavros/state
header: 
  seq: 0
  stamp: 
    secs: 0
    nsecs:         0
  frame_id: ''
connected: False
armed: False
guided: False
manual_input: False
mode: ''
system_status: 0
---

you can also preview the same problem with more detail in following issue