can you raise an issue on github with picture or copy past of what you get in the terminal ? or just here ? I don't have a TX1, but with the error I can look at a solution and maybe other already got solution for TX1
About using the robot steering or setpoint_velocity, you need for now :
- mavros >= 0.19, unfortunatly it isn't in ROS repo yet ... so you need to compile from source following mavros instruction : https://github.com/mavlink/mavros/blob/master/mavros/README.md#source-installation
- ardurover >= 3.2.0-beta2
Then go guided, arm, and publishing Twit message in /mavros/setpoint_velocity/cmd_vel_unstamped should work
The pwm_type was just a temporary modification for MakeFaire show. It will come in master in the next weeks!
About ROS in general, I feel like a one man army. I think only me and Randy report ROS usage, so it is difficult to have a good overview of what really work, in what limit, and what doesn't work ... Raise issues or post on discuss if things aren't working with ROS!