Error when I try to use MAVRos

Hi all,

I’m currently trying to use mavros with ardupilot (Arducopter) and RPI4 with Ubuntu server 20.04 LTS. I’ve installed ROS noetic and mavros like it explained here but when I try to send this command rosrun mavros mavsys mode -c 0 (sets the vehicle to mode "0")it’s doesn’t work if I look in mavros log I have an error no FCU connected like if I have no connection between my Cube and my RPI.

I used Serial 2 to connect my cube and my RPI. But I have a doubt about this line roslaunch mavros apm.launch fcu_url:=udp://:14855@I’m not sur if fcu_url:=udp://:14855@ is right beceause in the doc it’s say

the following instruction is appropriate for a TX2/APSync install with port 14855 opened

And in my situation I haven’t use APSync image for my RPI. Should I use the latest apsync-rpi-latest.img.xz or apsync-rpi-ubuntu-t265-PiConnectLite-latest.img beceause I use PIConnectLite, but which version of ubuntu is installed inside to know which ROS version I can use.