I have been able to set up the gazebo simulator correctly and the iris drone is well visible. The command rosrun mavros mavsys mode -c OFFBOARD shows that the mode has changed. The command rosrun mavros mavsafety arm arms the drone for a few seconds then disarms it without triggering the drone to take off.

Here is the ouput

... logging to /home/katelynn/.ros/log/625fd22a-0eab-11ea-b0ef-902e1c94c569/roslaunch-katelynn-3921.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://katelynn:36697/

SUMMARY

CLEAR PARAMETERS

/mavros/

PARAMETERS

/local_planner_nodelet/goal_x_param: 17
/local_planner_nodelet/goal_y_param: 15
/local_planner_nodelet/goal_z_param: 3
/local_planner_nodelet/pointcloud_topics: ['/camera/depth/p...
/local_planner_nodelet/world_name: /home/katelynn/ca...
/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: ROLL_180
/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: ROLL_180
/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: ROLL_180
/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/id: 2
/mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
/mavros/distance_sensor/sonar_1_sub/subscriber: True
/mavros/fcu_protocol: v2.0
/mavros/fcu_url: udp://:14540@loca...
/mavros/gcs_url:
/mavros/global_position/frame_id: fcu
/mavros/global_position/rot_covariance: 99999.0
/mavros/global_position/tf/child_frame_id: fcu_utm
/mavros/global_position/tf/frame_id: local_origin
/mavros/global_position/tf/send: False
/mavros/image/frame_id: px4flow
/mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
/mavros/imu/frame_id: fcu
/mavros/imu/linear_acceleration_stdev: 0.0003
/mavros/imu/magnetic_stdev: 0.0
/mavros/imu/orientation_stdev: 1.0
/mavros/local_position/frame_id: local_origin
/mavros/local_position/tf/child_frame_id: fcu
/mavros/local_position/tf/frame_id: local_origin
/mavros/local_position/tf/send: True
/mavros/local_position/tf/send_fcu: False
/mavros/mission/pull_after_gcs: True
/mavros/mocap/use_pose: False
/mavros/mocap/use_tf: True
/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_throttle: False
/mavros/setpoint_attitude/tf/child_frame_id: attitude
/mavros/setpoint_attitude/tf/frame_id: local_origin
/mavros/setpoint_attitude/tf/listen: False
/mavros/setpoint_attitude/tf/rate_limit: 10.0
/mavros/setpoint_position/tf/child_frame_id: setpoint
/mavros/setpoint_position/tf/frame_id: local_origin
/mavros/setpoint_position/tf/listen: False
/mavros/setpoint_position/tf/rate_limit: 50.0
/mavros/startup_px4_usb_quirk: True
/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/vibration/frame_id: vibration
/mavros/vision_pose/tf/child_frame_id: vision
/mavros/vision_pose/tf/frame_id: local_origin
/mavros/vision_pose/tf/listen: False
/mavros/vision_pose/tf/rate_limit: 10.0
/mavros/vision_speed/listen_twist: False
/rosdistro: kinetic
/rosversion: 1.12.14
/use_sim_time: True

NODES / gazebo (gazebo_ros/gzserver) gazebo_gui (gazebo_ros/gzclient) local_planner_manager (nodelet/nodelet) local_planner_nodelet (nodelet/nodelet) mavros (mavros/mavros_node) rqt_reconfigure (rqt_reconfigure/rqt_reconfigure) rviz (rviz/rviz) sitl_0 (px4/px4) spawn_model (gazebo_ros/spawn_model) tf_depth_camera (tf/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[tf_depth_camera-1]: started with pid [3939] process[rqt_reconfigure-2]: started with pid [3940] process[sitl_0-3]: started with pid [3960] INFO [px4] Creating symlink /home/katelynn/src/Firmware/ROMFS/px4fmu_common -> /home/katelynn/.ros/etc

| ___ \ \ \ / / / | | |/ / \ V / / /| | | __/ / \ / /| | | | / /^\ \ ___ | _| / / |_/

px4 starting.

INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0 process[mavros-4]: started with pid [3974] process[gazebo-5]: started with pid [3983] process[gazebo_gui-6]: started with pid [4000] process[spawn_model-7]: started with pid [4014] process[local_planner_manager-8]: started with pid [4025] process[local_planner_nodelet-9]: started with pid [4026] process[rviz-10]: started with pid [4029] [ INFO] [1574601417.031764370]: Loading nodelet /local_planner_nodelet of type LocalPlannerNodelet to manager local_planner_manager with the following remappings: [ INFO] [1574601417.037941042]: Initializing nodelet with 8 worker threads. [ INFO] [1574601417.068632564]: FCU URL: udp://:14540@localhost:14557 [ INFO] [1574601417.074859237]: udp0: Bind address: 0.0.0.0:14540 [ INFO] [1574601417.075153702]: udp0: Remote address: 127.0.0.1:14557 [ INFO] [1574601417.075721058]: GCS bridge disabled [ INFO] [1574601417.105444774]: Plugin 3dr_radio loaded [ INFO] [1574601417.111993748]: Plugin 3dr_radio initialized [ INFO] [1574601417.112310216]: Plugin actuator_control loaded [ INFO] [1574601417.134051882]: Plugin actuator_control initialized [ INFO] [1574601417.141994982]: Plugin adsb loaded [ INFO] [1574601417.155071349]: Plugin adsb initialized [ INFO] [1574601417.155466068]: Plugin altitude loaded [ INFO] [1574601417.159994103]: Plugin altitude initialized [ INFO] [1574601417.160480175]: Plugin cam_imu_sync loaded INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes INFO [simulator] Waiting for simulator to connect on TCP port 4560 [ INFO] [1574601417.171559667]: Plugin cam_imu_sync initialized [ INFO] [1574601417.172095416]: Plugin command loaded [ INFO] [1574601417.211836315]: Plugin command initialized [ INFO] [1574601417.212115415]: Plugin companion_process_status loaded [ INFO] [1574601417.223284863]: Plugin companion_process_status initialized [ INFO] [1574601417.223706533]: Plugin debug_value loaded [ INFO] [1574601417.239043718]: rviz version 1.12.17 [ INFO] [1574601417.239131184]: compiled against Qt version 5.5.1 [ INFO] [1574601417.239155436]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1574601417.258158004]: Plugin debug_value initialized [ INFO] [1574601417.258383968]: Plugin distance_sensor blacklisted [ INFO] [1574601417.258914297]: Plugin fake_gps loaded [ INFO] [1574601417.309860811]: Plugin fake_gps initialized [ INFO] [1574601417.310482970]: Plugin ftp loaded [ INFO] [1574601417.344679431]: Plugin ftp initialized [ INFO] [1574601417.345113684]: Plugin global_position loaded [ INFO] [1574601417.415030696]: Plugin global_position initialized [ INFO] [1574601417.415346198]: Plugin gps_rtk loaded [ INFO] [1574601417.431614116]: Plugin gps_rtk initialized [ INFO] [1574601417.432155344]: Plugin hil loaded [ INFO] [1574601417.516834962]: Plugin hil initialized [ INFO] [1574601417.517399141]: Plugin home_position loaded [ INFO] [1574601417.539868686]: Plugin home_position initialized [ INFO] [1574601417.540307535]: Plugin imu loaded [ INFO] [1574601417.561626252]: Plugin imu initialized [ INFO] [1574601417.561981087]: Plugin landing_target loaded [ INFO] [1574601417.584186379]: Plugin landing_target initialized [ INFO] [1574601417.584620291]: Plugin local_position loaded [ INFO] [1574601417.601739941]: Plugin local_position initialized [ INFO] [1574601417.602091754]: Plugin log_transfer loaded [ INFO] [1574601417.610716807]: Plugin log_transfer initialized [ INFO] [1574601417.611131611]: Plugin manual_control loaded [ INFO] [1574601417.618307046]: Plugin manual_control initialized [ INFO] [1574601417.618666640]: Plugin mocap_pose_estimate loaded [ INFO] [1574601417.636266356]: Plugin mocap_pose_estimate initialized [ INFO] [1574601417.636615092]: Plugin mount_control loaded [ INFO] [1574601417.650535981]: Plugin mount_control initialized [ INFO] [1574601417.651010840]: Plugin obstacle_distance loaded [ INFO] [1574601417.658567393]: Plugin obstacle_distance initialized [ INFO] [1574601417.658976989]: Plugin odom loaded [ INFO] [1574601417.666949527]: Plugin odom initialized [ INFO] [1574601417.667299595]: Plugin onboard_computer_status loaded [ INFO] [1574601417.675127688]: Plugin onboard_computer_status initialized [ INFO] [1574601417.676090138]: Plugin param loaded [ INFO] [1574601417.683859971]: Plugin param initialized [ INFO] [1574601417.684172624]: Plugin px4flow loaded [ INFO] [1574601417.697652530]: Plugin px4flow initialized [ INFO] [1574601417.697714666]: Plugin rangefinder blacklisted [ INFO] [1574601417.698070513]: Plugin rc_io loaded [ INFO] [1574601417.705308129]: Plugin rc_io initialized [ INFO] [1574601417.705394802]: Plugin safety_area blacklisted [ INFO] [1574601417.705727446]: Plugin setpoint_accel loaded [ INFO] [1574601417.711814685]: Plugin setpoint_accel initialized [ INFO] [1574601417.712217656]: Plugin setpoint_attitude loaded [ INFO] [1574601417.730437188]: Plugin setpoint_attitude initialized [ INFO] [1574601417.730819283]: Plugin setpoint_position loaded [ INFO] [1574601417.774090445]: Plugin setpoint_position initialized [ INFO] [1574601417.774487017]: Plugin setpoint_raw loaded [ INFO] [1574601417.807886467]: Plugin setpoint_raw initialized [ INFO] [1574601417.808425271]: Plugin setpoint_trajectory loaded [ INFO] [1574601417.827651138]: Finished loading Gazebo ROS API Plugin. [ INFO] [1574601417.830588541]: Plugin setpoint_trajectory initialized [ INFO] [1574601417.831094871]: Plugin setpoint_velocity loaded [ INFO] [1574601417.831245959]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1574601417.851222458]: Plugin setpoint_velocity initialized [ INFO] [1574601417.851846281]: Plugin sys_status loaded SpawnModel script started [ INFO] [1574601417.879583881]: Plugin sys_status initialized [ INFO] [1574601417.880021160]: Plugin sys_time loaded [ INFO] [1574601417.904180930]: TM: Timesync mode: MAVLINK [ INFO] [1574601417.904574124]: Finished loading Gazebo ROS API Plugin. [ INFO] [1574601417.906279728]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1574601417.907281574]: Plugin sys_time initialized [ INFO] [1574601417.907615395]: Plugin trajectory loaded [ INFO] [1574601417.920528612]: Plugin trajectory initialized [ INFO] [1574601417.920800004]: Plugin vfr_hud loaded [ INFO] [1574601417.922309848]: Plugin vfr_hud initialized [ INFO] [1574601417.922380505]: Plugin vibration blacklisted [ INFO] [1574601417.922627950]: Plugin vision_pose_estimate loaded [ INFO] [1574601417.943451476]: Plugin vision_pose_estimate initialized [ INFO] [1574601417.943751421]: Plugin vision_speed_estimate loaded [ INFO] [1574601417.949603838]: Plugin vision_speed_estimate initialized [ INFO] [1574601417.949949379]: Plugin waypoint loaded [ INFO] [1574601417.958407017]: Plugin waypoint initialized [ INFO] [1574601417.958473019]: Plugin wheel_odometry blacklisted [ INFO] [1574601417.958760743]: Plugin wind_estimation loaded [ INFO] [1574601417.960002135]: Plugin wind_estimation initialized [ INFO] [1574601417.960079983]: Autostarting mavlink via USB on PX4 [ INFO] [1574601417.960291970]: Built-in SIMD instructions: SSE, SSE2 [ INFO] [1574601417.960335927]: Built-in MAVLink package version: 2019.11.11 [ INFO] [1574601417.960385830]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [1574601417.960434943]: MAVROS started. MY ID 1.240, TARGET ID 1.1 [INFO] [1574601418.027486, 0.000000]: Loading model XML from Gazebo Model Database [INFO] [1574601418.027857, 0.000000]: Waiting for service /gazebo/spawn_sdf_model INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0 INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550 INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540 INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14558 remote port 14541 INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: ./log/2019-11-24/13_16_58.ulg INFO [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network) [ INFO] [1574601418.385407409]: udp0: Remote address: 127.0.0.1:14580 [ INFO] [1574601418.387233854]: FCU: [logger] file: ./log/2019-11-24/13_16_58.ulg [ INFO] [1574601418.387777447]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot INFO [px4] Startup script returned successfully INFO [mavlink] partner IP: 127.0.0.1 [ INFO] [1574601420.899398532]: Stereo is NOT SUPPORTED [ INFO] [1574601420.899551454]: OpenGl version: 4.5 (GLSL 4.5). [ERROR] [1574601422.370870613]: PR: Unknown parameter to get: MPC_ACC_HOR [ERROR] [1574601422.372705831]: PR: Unknown parameter to get: MPC_XY_CRUISE [ERROR] [1574601422.374349138]: PR: Unknown parameter to get: CP_DIST [ERROR] [1574601422.375941682]: PR: Unknown parameter to get: MPC_LAND_SPEED [ERROR] [1574601422.377518416]: PR: Unknown parameter to get: MPC_JERK_MAX [ERROR] [1574601422.379411425]: PR: Unknown parameter to get: NAV_ACC_RAD [INFO] [1574601422.508304, 0.000000]: Calling service /gazebo/spawn_sdf_model [ INFO] [1574601422.567636576, 0.028000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [INFO] [1574601422.882076, 0.028000]: Spawn status: SpawnModel: Successfully spawned entity [ INFO] [1574601422.909624250, 0.028000000]: Physics dynamic reconfigure ready. [spawn_model-7] process has finished cleanly log file: /home/katelynn/.ros/log/625fd22a-0eab-11ea-b0ef-902e1c94c569/spawn_model-7*.log [ INFO] [1574601423.262694846, 0.028000000]: Camera Plugin: The 'robotNamespace' param did not exit [ INFO] [1574601423.269742823, 0.028000000]: Camera Plugin (ns = ) <tf_prefix_>, set to "" INFO [simulator] Simulator connected on TCP port 4560. WARN [mavlink] [timesync] RTT too high for timesync: 12 ms WARN [mavlink] [timesync] RTT too high for timesync: 12 ms WARN [mavlink] [timesync] RTT too high for timesync: 12 ms WARN [mavlink] [timesync] RTT too high for timesync: 12 ms WARN [mavlink] [timesync] RTT too high for timesync: 12 ms WARN [mavlink] [timesync] RTT too high for timesync: 12 ms WARN [mavlink] [timesync] RTT too high for timesync: 12 ms WARN [mavlink] [timesync] RTT too high for timesync: 12 ms WARN [mavlink] [timesync] RTT too high for timesync: 12 ms WARN [mavlink] [timesync] RTT too high for timesync: 16 ms WARN [mavlink] [timesync] RTT too high for timesync: 16 ms WARN [mavlink] [timesync] RTT too high for timesync: 16 ms WARN [mavlink] [timesync] RTT too high for timesync: 16 ms WARN [mavlink] [timesync] RTT too high for timesync: 20 ms [ INFO] [1574601424.214096433, 0.052000000]: waitForService: Service [/gazebo/set_physics_properties] is now available. [ INFO] [1574601424.214723272, 0.052000000]: IMU: High resolution IMU detected! [ INFO] [1574601424.273744367, 0.084000000]: Physics dynamic reconfigure ready. [ INFO] [1574601424.412975332, 0.208000000]: FCU: Avoidance system starting INFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14) [ INFO] [1574601425.199218970, 0.896000000]: IMU: Attitude quaternion IMU detected! INFO [ecl/EKF] 732000: EKF GPS checks passed (WGS-84 origin set) [ INFO] [1574601425.303874150, 1.000000000]: VER: 1.1: Capabilities 0x000000000000e4ef [ INFO] [1574601425.303937064, 1.000000000]: VER: 1.1: Flight software: 010a0080 (11287712f8000000) [ INFO] [1574601425.303971207, 1.000000000]: VER: 1.1: Middleware software: 010a0080 (11287712f8000000) [ INFO] [1574601425.304004845, 1.000000000]: VER: 1.1: OS software: 040f00ff (427238133be2b0ec) [ INFO] [1574601425.304042091, 1.000000000]: VER: 1.1: Board hardware: 00000001 [ INFO] [1574601425.304112575, 1.000000000]: VER: 1.1: VID/PID: 0000:0000 [ INFO] [1574601425.304156655, 1.000000000]: VER: 1.1: UID: 4954414c44494e4f [ INFO] [1574601425.321521888, 1.020000000]: FCU: Avoidance system connected [ INFO] [1574601426.310546015, 2.004000000]: Successfully loaded rviz world [ERROR] [1574601427.381505293, 3.072000000]: PR: Unknown parameter to get: MPC_ACC_HOR [ERROR] [1574601427.383492900, 3.076000000]: PR: Unknown parameter to get: MPC_XY_CRUISE [ERROR] [1574601427.385027760, 3.076000000]: PR: Unknown parameter to get: CP_DIST [ERROR] [1574601427.386736840, 3.080000000]: PR: Unknown parameter to get: MPC_LAND_SPEED [ERROR] [1574601427.388309803, 3.080000000]: PR: Unknown parameter to get: MPC_JERK_MAX [ERROR] [1574601427.389734486, 3.080000000]: PR: Unknown parameter to get: NAV_ACC_RAD INFO [ecl/EKF] 5192000: EKF commencing GPS fusion [ERROR] [1574601432.391561141, 8.068000000]: PR: Unknown parameter to get: MPC_ACC_HOR [ERROR] [1574601432.393381998, 8.072000000]: PR: Unknown parameter to get: MPC_XY_CRUISE [ERROR] [1574601432.394874778, 8.072000000]: PR: Unknown parameter to get: CP_DIST [ERROR] [1574601432.396230057, 8.072000000]: PR: Unknown parameter to get: MPC_LAND_SPEED [ERROR] [1574601432.398207046, 8.076000000]: PR: Unknown parameter to get: MPC_JERK_MAX [ERROR] [1574601432.399977633, 8.076000000]: PR: Unknown parameter to get: NAV_ACC_RAD [ INFO] [1574601434.421148655, 10.096000000]: parameter CP_DIST is set from nan to -1.000000

[ INFO] [1574601434.580159785, 10.256000000]: parameter MPC_ACC_DOWN_MAX is set from nan to 3.000000

[ INFO] [1574601434.580340240, 10.256000000]: parameter MPC_ACC_HOR is set from nan to 3.000000

[ INFO] [1574601434.580792897, 10.256000000]: parameter MPC_ACC_UP_MAX is set from nan to 4.000000

[ INFO] [1574601434.581374998, 10.256000000]: parameter MPC_JERK_MAX is set from nan to 20.000000

[ INFO] [1574601434.581473260, 10.256000000]: parameter MPC_JERK_MIN is set from nan to 10.000000

[ INFO] [1574601434.581837698, 10.256000000]: parameter MPC_LAND_SPEED is set from nan to 0.700000

[ INFO] [1574601434.601560653, 10.276000000]: parameter MPC_TKO_SPEED is set from nan to 1.500000

[ INFO] [1574601434.601771647, 10.276000000]: parameter MPC_XY_CRUISE is set from nan to 5.000000

[ INFO] [1574601434.621628994, 10.296000000]: parameter MPC_Z_VEL_MAX_DN is set from nan to 1.000000

[ INFO] [1574601434.621696795, 10.296000000]: parameter MPC_Z_VEL_MAX_UP is set from nan to 3.000000

[ INFO] [1574601434.621880561, 10.296000000]: parameter NAV_ACC_RAD is set from nan to 2.000000

[ INFO] [1574601439.333097202, 15.000000000]: WP: mission received [ WARN] [1574601533.613709513, 109.064000000]: CMD: Unexpected command 176, result 0 [ INFO] [1574601546.549794042, 121.944000000]: FCU: ARMED by Arm/Disarm component command [ INFO] [1574601556.582249009, 131.964000000]: FCU: DISARMED by Auto disarm initiated INFO [logger] closed logfile, bytes written: 7835685 [ INFO] [1574601589.828776625, 165.168000000]: Setting goal: Frame:local_origin, Position(28.006, 11.956, 0.000), Orientation(0.000, 0.000, -0.667, 0.745) = Angle: -1.460

Nov 24 '19 14:11 Cesaire-Njietche

@Cesaire-Njietche You need to be streaming setpoints to be able to enter offboard mode. Are you trying to run avoidance? which node are you running?

Nov 24 '19 14:11 Jaeyoung-Lim

Trying to run avoidance. local_planner more precisely. global_planner is working correctly

Nov 24 '19 14:11 Cesaire-Njietche

@Cesaire-Njietche I can reproduce the issue. It seems that offboard takeoff is broken in local planner. You have to way around this:

use the planner in mission modes
do an auto takeoff from QGC and switch into offboard mode afterwards

We'll try to fix the bug as soon as possible

Nov 25 '19 07:11 mrivi

Okay thanks a lot @mrivi for the insight.

Nov 29 '19 03:11 Cesaire-Njietche

We have the same problem. Any news about it? We would like to use local planner in our project with ROS in Offboard Mode Avoidance without using QGC. Thank you.