Error uploading a local built firmware

I am trying to build locally ardurover - I followed the instructions and was able to successfully build the firmware. I wanted to upload it onthe pixhawk, and I got the following error (end of the trace):

fabrice@fabrice-desktop:~/ardupilot$ ./waf --target bin/ardurover --upload
Waf: Entering directory `/home/fabrice/ardupilot/build/Pixhawk4’
Checking for env.py
env added DEFAULT_PARAMETERS=/home/fabrice/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4/defaults.parm
env added BOARD_FLASH_SIZE=2048
env added APJ_BOARD_TYPE=STM32F767xx
env added OPTIMIZE=-O2
env added USBID=0x1209/0x5740
env added MAIN_STACK=0x400
env added APJ_BOARD_ID=50
env added HAL_WITH_UAVCAN=1
env added CORTEX=cortex-m7
env added FLASH_RESERVE_START_KB=32
env added CHIBIOS_BUILD_FLAGS=USE_FATFS=yes MCU=cortex-m7 ENV_UDEFS=-DCHPRINTF_USE_FLOAT=1 CHIBIOS_PLATFORM_MK=os/hal/ports/STM32/STM32F7xx/platform.mk CHIBIOS_STARTUP_MK=os/common/startup/ARMCMx/compilers/GCC/mk/startup_stm32f7xx.mk
env added IOMCU_FW=0
env appended CPU_FLAGS=[’-mcpu=cortex-m7’, ‘-mfpu=fpv5-d16’, ‘-mfloat-abi=hard’, ‘-DARM_MATH_CM7’, ‘-u_printf_float’]
env added PERIPH_FW=0
env added PROCESS_STACK=0x2000
Embedding file bootloader.bin:/home/fabrice/ardupilot/Tools/bootloaders/Pixhawk4_bl.bin
Embedding file hwdef.dat:/home/fabrice/ardupilot/build/Pixhawk4/hw.dat
Embedding file io_firmware.bin:Tools/IO_Firmware/iofirmware_lowpolh.bin
[633/638] Linking build/Pixhawk4/bin/ardurover
[634/638] apj_tool build/Pixhawk4/bin/ardurover
Loaded binary file of length 3254096
Setting defaults from /home/fabrice/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4/defaults.parm
Saved binary of length 3254096
[635/638] Generating bin/ardurover.bin
[636/638] apj_gen build/Pixhawk4/bin/ardurover.bin
[637/638] Generating bin/ardurover.hex
[638/638] Uploading build/Pixhawk4/bin/ardurover.apj
Loaded firmware for 32,0, size: 1257032 bytes, waiting for the bootloader…
If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.
Exception creating uploader: [Errno 2] could not open port /dev/serial/by-id/usb-ArduPilot_CUAVv5_2F0018001551383038333234-if02: [Errno 2] No such file or directory: ‘/dev/serial/by-id/usb-ArduPilot_CUAVv5_2F0018001551383038333234-if02’
Exception creating uploader: [Errno 13] could not open port /dev/serial/by-id/usb-3D_Robotics_PX4_BL_FMU_v5.x_0-if00: [Errno 13] Permission denied: ‘/dev/serial/by-id/usb-3D_Robotics_PX4_BL_FMU_v5.x_0-if00’
Exception creating uploader: [Errno 13] could not open port /dev/serial/by-id/usb-3D_Robotics_PX4_BL_FMU_v5.x_0-if00: [Errno 13] Permission denied: ‘/dev/serial/by-id/usb-3D_Robotics_PX4_BL_FMU_v5.x_0-if00’
Exception creating uploader: [Errno 13] could not open port /dev/serial/by-id/usb-3D_Robotics_PX4_BL_FMU_v5.x_0-if00: [Errno 13] Permission denied: ‘/dev/serial/by-id/usb-3D_Robotics_PX4_BL_FMU_v5.x_0-if00’

The PixHawk4 is connected but looks like there are right issues - I tried chmod 666 but no effect…

I have an additional question, if I want to upload the file from a PC with MissionPlanner, I have to copy this file: Pixhawk4/bin/ardurover.apj am I right?

Thank you