ROS(in Jetson Nano) - Durandal

Hi guys, I am checking connection is right or not. And there is a some warnings in terminal. But I dunno is that a big and important or not. And also I cannot see outputs of some of the rostopics when I made echo. Actually ROS do not send any data or something TO Ardu. And I did connection with USB to TTL (Durandal’s TELEM2 port to Nano’s usb port)

If is there any, could you give me an idea to fix it?
Here is my terminal outputs:

~$ roslaunch mavros apm.launch fcu_url:=/dev/ttyUSB0:921600
... logging to /home/bba/.ros/log/8ab40172-a127-11ec-ad34-48b02d3d4342/roslaunch-bba-nvidia-12953.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.

started roslaunch server http://bba-nvidia:42423/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_mav_type: ONBOARD_CONTROLLER
 * /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/rangefinder_pub/field_of_view: 0.0
 * /mavros/distance_sensor/rangefinder_pub/frame_id: lidar
 * /mavros/distance_sensor/rangefinder_pub/id: 0
 * /mavros/distance_sensor/rangefinder_pub/send_tf: False
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/rangefinder_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/rangefinder_sub/id: 1
 * /mavros/distance_sensor/rangefinder_sub/orientation: PITCH_270
 * /mavros/distance_sensor/rangefinder_sub/subscriber: True
 * /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_id: 4
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/horiz_accuracy: 0.5
 * /mavros/fake_gps/mocap_transform: False
 * /mavros/fake_gps/mocap_withcovariance: False
 * /mavros/fake_gps/satellites_visible: 6
 * /mavros/fake_gps/speed_accuracy: 0.0
 * /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_hil_gps: True
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fake_gps/vert_accuracy: 0.5
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: /dev/ttyUSB0:921600
 * /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: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /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/odometry/estimator_type: 3
 * /mavros/odometry/frame_tf/desired_frame: ned
 * /mavros/plugin_blacklist: ['actuator_contro...
 * /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: map
 * /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: map
 * /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: map
 * /mavros/wheel_odometry/tf/send: True
 * /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
 * /rosdistro: melodic
 * /rosversion: 1.14.12

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [12974]
[ INFO] [1646995880.572203296]: FCU URL: /dev/ttyUSB0:921600
[ INFO] [1646995880.589617015]: serial0: device: /dev/ttyUSB0 @ 921600 bps
[ INFO] [1646995880.604775600]: GCS bridge disabled
[ INFO] [1646995880.677293794]: Plugin 3dr_radio loaded
[ INFO] [1646995880.685453901]: Plugin 3dr_radio initialized
[ INFO] [1646995880.685575153]: Plugin actuator_control blacklisted
[ INFO] [1646995880.728462332]: Plugin adsb loaded
[ INFO] [1646995880.743430810]: Plugin adsb initialized
[ INFO] [1646995880.743533103]: Plugin altitude blacklisted
[ INFO] [1646995880.743995870]: Plugin cam_imu_sync loaded
[ INFO] [1646995880.748193425]: Plugin cam_imu_sync initialized
[ INFO] [1646995880.748650410]: Plugin camera loaded
[ INFO] [1646995880.752003059]: Plugin camera initialized
[ INFO] [1646995880.752667234]: Plugin command loaded
[ INFO] [1646995880.811223473]: Plugin command initialized
[ INFO] [1646995880.811734313]: Plugin companion_process_status loaded
[ INFO] [1646995880.824919904]: Plugin companion_process_status initialized
[ INFO] [1646995880.825029957]: Plugin debug_value blacklisted
[ INFO] [1646995880.825711320]: Plugin distance_sensor loaded
[ INFO] [1646995880.875275202]: Plugin distance_sensor initialized
[ INFO] [1646995880.875809532]: Plugin esc_status loaded
[ INFO] [1646995880.880987725]: Plugin esc_status initialized
[ INFO] [1646995880.881477836]: Plugin esc_telemetry loaded
[ INFO] [1646995880.884380113]: Plugin esc_telemetry initialized
[ INFO] [1646995880.884946631]: Plugin fake_gps loaded
[ INFO] [1646995880.960277102]: Plugin fake_gps initialized
[ INFO] [1646995880.960388978]: Plugin ftp blacklisted
[ INFO] [1646995880.961037112]: Plugin geofence loaded
[ INFO] [1646995880.979194070]: Plugin geofence initialized
[ INFO] [1646995880.979796057]: Plugin global_position loaded
[ INFO] [1646995881.049634943]: Plugin global_position initialized
[ INFO] [1646995881.050116668]: Plugin gps_input loaded
[ INFO] [1646995881.067177830]: Plugin gps_input initialized
[ INFO] [1646995881.067792734]: Plugin gps_rtk loaded
[ INFO] [1646995881.084248263]: Plugin gps_rtk initialized
[ INFO] [1646995881.084717956]: Plugin gps_status loaded
[ INFO] [1646995881.095216063]: Plugin gps_status initialized
[ INFO] [1646995881.095336950]: Plugin hil blacklisted
[ INFO] [1646995881.095782008]: Plugin home_position loaded
[ INFO] [1646995881.111702113]: Plugin home_position initialized
[ INFO] [1646995881.112391966]: Plugin imu loaded
[ INFO] [1646995881.151222997]: Plugin imu initialized
[ INFO] [1646995881.151809463]: Plugin landing_target loaded
[ INFO] [1646995881.215596030]: Plugin landing_target initialized
[ INFO] [1646995881.216225413]: Plugin local_position loaded
[ INFO] [1646995881.255638483]: Plugin local_position initialized
[ INFO] [1646995881.256132135]: Plugin log_transfer loaded
[ INFO] [1646995881.273308454]: Plugin log_transfer initialized
[ INFO] [1646995881.273863774]: Plugin mag_calibration_status loaded
[ INFO] [1646995881.281450749]: Plugin mag_calibration_status initialized
[ INFO] [1646995881.282403678]: Plugin manual_control loaded
[ INFO] [1646995881.296143285]: Plugin manual_control initialized
[ INFO] [1646995881.296705897]: Plugin mocap_pose_estimate loaded
[ INFO] [1646995881.317588828]: Plugin mocap_pose_estimate initialized
[ INFO] [1646995881.318064563]: Plugin mount_control loaded
[ INFO] [1646995881.335760889]: Plugin mount_control initialized
[ INFO] [1646995881.336479805]: Plugin nav_controller_output loaded
[ INFO] [1646995881.339919850]: Plugin nav_controller_output initialized
[ INFO] [1646995881.340414127]: Plugin obstacle_distance loaded
[ INFO] [1646995881.353994618]: Plugin obstacle_distance initialized
[ INFO] [1646995881.354567230]: Plugin odom loaded
[ INFO] [1646995881.370546867]: Plugin odom initialized
[ INFO] [1646995881.371008592]: Plugin onboard_computer_status loaded
[ INFO] [1646995881.383280211]: Plugin onboard_computer_status initialized
[ INFO] [1646995881.384167202]: Plugin param loaded
[ INFO] [1646995881.397496023]: Plugin param initialized
[ INFO] [1646995881.397969258]: Plugin play_tune loaded
[ INFO] [1646995881.414074470]: Plugin play_tune initialized
[ INFO] [1646995881.414269420]: Plugin px4flow blacklisted
[ INFO] [1646995881.414762604]: Plugin rallypoint loaded
[ INFO] [1646995881.426956462]: Plugin rallypoint initialized
[ INFO] [1646995881.427420531]: Plugin rangefinder loaded
[ INFO] [1646995881.430127337]: Plugin rangefinder initialized
[ INFO] [1646995881.431088339]: Plugin rc_io loaded
[ INFO] [1646995881.448827166]: Plugin rc_io initialized
[ INFO] [1646995881.449078367]: Plugin safety_area blacklisted
[ INFO] [1646995881.449532644]: Plugin setpoint_accel loaded
[ INFO] [1646995881.462614587]: Plugin setpoint_accel initialized
[ INFO] [1646995881.463480848]: Plugin setpoint_attitude loaded
[ INFO] [1646995881.514607822]: Plugin setpoint_attitude initialized
[ INFO] [1646995881.515181787]: Plugin setpoint_position loaded
[ INFO] [1646995881.588451396]: Plugin setpoint_position initialized
[ INFO] [1646995881.589081560]: Plugin setpoint_raw loaded
[ INFO] [1646995881.633545478]: Plugin setpoint_raw initialized
[ INFO] [1646995881.634139548]: Plugin setpoint_trajectory loaded
[ INFO] [1646995881.658353303]: Plugin setpoint_trajectory initialized
[ INFO] [1646995881.659112740]: Plugin setpoint_velocity loaded
[ INFO] [1646995881.689563557]: Plugin setpoint_velocity initialized
[ INFO] [1646995881.690670863]: Plugin sys_status loaded
[ INFO] [1646995881.741835233]: Plugin sys_status initialized
[ INFO] [1646995881.742574566]: Plugin sys_time loaded
[ INFO] [1646995881.777176270]: TM: Timesync mode: MAVLINK
[ INFO] [1646995881.779430779]: TM: Not publishing sim time
[ INFO] [1646995881.786635145]: Plugin sys_time initialized
[ INFO] [1646995881.787287549]: Plugin terrain loaded
[ INFO] [1646995881.790336964]: Plugin terrain initialized
[ INFO] [1646995881.790828273]: Plugin trajectory loaded
[ INFO] [1646995881.820914709]: Plugin trajectory initialized
[ INFO] [1646995881.821384716]: Plugin tunnel loaded
[ INFO] [1646995881.836141680]: Plugin tunnel initialized
[ INFO] [1646995881.836718980]: Plugin vfr_hud loaded
[ INFO] [1646995881.840487831]: Plugin vfr_hud initialized
[ INFO] [1646995881.840633927]: Plugin vibration blacklisted
[ INFO] [1646995881.841134663]: Plugin vision_pose_estimate loaded
[ INFO] [1646995881.877100812]: Plugin vision_pose_estimate initialized
[ INFO] [1646995881.877244564]: Plugin vision_speed_estimate blacklisted
[ INFO] [1646995881.877754519]: Plugin waypoint loaded
[ INFO] [1646995881.898982089]: Plugin waypoint initialized
[ INFO] [1646995881.899164956]: Plugin wheel_odometry blacklisted
[ INFO] [1646995881.899633556]: Plugin wind_estimation loaded
[ INFO] [1646995881.903324646]: Plugin wind_estimation initialized
[ INFO] [1646995881.903908664]: Built-in SIMD instructions: ARM NEON
[ INFO] [1646995881.904306326]: Built-in MAVLink package version: 2021.3.3
[ INFO] [1646995881.904410806]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1646995881.904494245]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1646995881.906147860]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ INFO] [1646995881.918475314]: RC_CHANNELS message detected!
[ INFO] [1646995881.919230115]: IMU: Raw IMU message used.
[ WARN] [1646995881.920757531]: GP: No GPS fix
[ WARN] [1646995881.921947807]: TM: Wrong FCU time.
[ WARN] [1646995882.936851477]: CMD: Unexpected command 520, result 0
[ INFO] [1646995882.938909317]: GF: Using MISSION_ITEM_INT
[ INFO] [1646995882.939540106]: RP: Using MISSION_ITEM_INT
[ INFO] [1646995882.940020373]: WP: Using MISSION_ITEM_INT
[ INFO] [1646995882.940348606]: VER: 1.1: Capabilities         0x000000000000d36f
[ INFO] [1646995882.941098668]: VER: 1.1: Flight software:     040107ff (f9db02a3)
[ INFO] [1646995882.941341067]: VER: 1.1: Middleware software: 00000000 (        )
[ INFO] [1646995882.941551122]: VER: 1.1: OS software:         00000000 (45395b6a)
[ INFO] [1646995882.941888783]: VER: 1.1: Board hardware:      00000000
[ INFO] [1646995882.942344883]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1646995882.942667960]: VER: 1.1: UID:                 0000000000000000
[ INFO] [1646995891.910008461]: HP: requesting home position
[ INFO] [1646995891.917751946]: FCU: ArduPlane V4.1.7 (f9db02a3)
[ INFO] [1646995891.919098786]: FCU: ChibiOS: 45395b6a
[ INFO] [1646995891.919846348]: FCU: Durandal 0045002C 31305111 34343638
[ INFO] [1646995891.920190311]: FCU: RCOut: PWM:1-16
[ INFO] [1646995891.920600003]: FCU: IMU0: fast sampling enabled 8.0kHz/2.0kHz
[ WARN] [1646995896.912696312]: FCU: Need mavlink2 for item transfer
[ WARN] [1646995896.914037215]: FCU: Need mavlink2 for item transfer
[ INFO] [1646995896.915156865]: WP: mission received
[ WARN] [1646995897.907885700]: GF: timeout, retries left 2
[ WARN] [1646995897.909846715]: RP: timeout, retries left 2
[ WARN] [1646995897.913059152]: FCU: Need mavlink2 for item transfer
[ WARN] [1646995897.915858510]: FCU: Need mavlink2 for item transfer
[ WARN] [1646995898.909684992]: GF: timeout, retries left 1
[ WARN] [1646995898.911237512]: RP: timeout, retries left 1
[ WARN] [1646995898.916585080]: FCU: Need mavlink2 for item transfer
[ WARN] [1646995898.918341144]: FCU: Need mavlink2 for item transfer
[ WARN] [1646995899.911545876]: GF: timeout, retries left 0
[ WARN] [1646995899.914893367]: RP: timeout, retries left 0
[ WARN] [1646995899.919344256]: FCU: Need mavlink2 for item transfer
[ WARN] [1646995899.922935500]: FCU: Need mavlink2 for item transfer
[ERROR] [1646995900.915579837]: GF: timed out.
[ERROR] [1646995900.918373883]: RP: timed out.
[ INFO] [1646995901.911028145]: HP: requesting home position
[ WARN] [1646995910.148775025]: PR: Param STAT_RUNTIME (65535/1204): <value><i4>83240</i4></value> different index: 910/1204
[ INFO] [1646995911.910132062]: HP: requesting home position
[ WARN] [1646995915.753111914]: GP: No GPS fix
[ INFO] [1646995915.949997466]: PR: parameters list received
^C[mavros-1] killing on exit
~$ rostopic echo /mavrostate
header: 
  seq: 2
  stamp: 
    secs: 1646995976
    nsecs: 797434021
  frame_id: ''
connected: True
armed: False
guided: False
manual_input: True
mode: "MANUAL"
system_status: 5
---

I can change the mode from QRTL to MANUAL not guided or smilar.


---
header: 
  seq: 92
  stamp: 
    secs: 1646996095
    nsecs: 275981054
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Received packets:"
        value: "6219"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "223"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "174109"
      - 
        key: "Tx total bytes:"
        value: "38928"
      - 
        key: "Rx speed:"
        value: "1460.000000"
      - 
        key: "Tx speed:"
        value: "460.000000"
  - 
    level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Satellites visible"
        value: "0"
      - 
        key: "Fix type"
        value: "0"
      - 
        key: "EPH (m)"
        value: "Unknown"
      - 
        key: "EPV (m)"
        value: "Unknown"
  - 
    level: 0
    name: "mavros: Heartbeat"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "120"
      - 
        key: "Frequency (Hz)"
        value: "0.962957"
      - 
        key: "Vehicle type"
        value: "Fixed wing aircraft"
      - 
        key: "Autopilot type"
        value: "ArduPilot"
      - 
        key: "Mode"
        value: "MANUAL"
      - 
        key: "System status"
        value: "Critical"
  - 
    level: 2
    name: "mavros: System"
    message: "Sensor health"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Sensor present"
        value: "0x1361FC1F"
      - 
        key: "Sensor enabled"
        value: "0x0361801F"
      - 
        key: "Sensor health"
        value: "0x0210800F"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D accelerometer"
        value: "Ok"
      - 
        key: "3D magnetometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "differential pressure"
        value: "Fail"
      - 
        key: "motor outputs / control"
        value: "Ok"
      - 
        key: "rc receiver"
        value: "Fail"
      - 
        key: "AHRS subsystem health"
        value: "Fail"
      - 
        key: "Terrain subsystem health"
        value: "Fail"
      - 
        key: "Logging"
        value: "Fail"
      - 
        key: "Battery"
        value: "Ok"
      - 
        key: "CPU Load (%)"
        value: "21.0"
      - 
        key: "Drop rate (%)"
        value: "0.0"
      - 
        key: "Errors comm"
        value: "0"
      - 
        key: "Errors count #1"
        value: "0"
      - 
        key: "Errors count #2"
        value: "0"
      - 
        key: "Errors count #3"
        value: "0"
      - 
        key: "Errors count #4"
        value: "0"
  - 
    level: 0
    name: "mavros: Battery"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Voltage"
        value: "11.36"
      - 
        key: "Current"
        value: "0.0"
      - 
        key: "Remaining"
        value: "100.0"
  - 
    level: 0
    name: "mavros: Time Sync"
    message: "Normal"
    hardware_id: "/dev/ttyUSB0:921600"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "1186"
      - 
        key: "Frequency (Hz)"
        value: "9.999795"
      - 
        key: "Last RTT (ms)"
        value: "4.849529"
      - 
        key: "Mean RTT (ms)"
        value: "4.950913"
      - 
        key: "Last remote time (s)"
        value: "1864.951443000"
      - 
        key: "Estimated time offset (s)"
        value: "1646994230.278501749"

rostopic /mavlink/from o/ps:

---
header: 
  seq: 67
  stamp: 
    secs: 1646996190
    nsecs: 747863819
  frame_id: ''
framing_status: 1
magic: 254
len: 31
incompat_flags: 0
compat_flags: 0
seq: 190
sysid: 1
compid: 1
msgid: 1
checksum: 42319
payload64: [243616725812247583, 3200934294181675023, 0, 28147497671065600]
signature: []
---

but I cannot get the /mavros/to topic or some of the topics doesn’t give me any outputs and some of them gave me like /mavros/imu/data topic. . Do I have to write some code like do arm or sth to see the datas sending from ROS to controller? Also I didn’t add any connection to my controller like sensors,esc or sth. That’s why I am not able to see the ESC status topic’s outputs in ROS side but I am not sure. Is there any idiea for that , what am I doing wrong?

~$ rostopic echo /mavros/imu/data
header: 
  seq: 653
  stamp: 
    secs: 1646996646
    nsecs: 748534336
  frame_id: "base_link"
orientation: 
  x: 0.00113598440492
  y: 0.00630879107616
  z: 0.632529462969
  w: -0.77450977216
orientation_covariance: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
angular_velocity: 
  x: 0.0015708723804
  y: 0.00256318319589
  z: -0.000320442195516
angular_velocity_covariance: [1.2184696791468346e-07, 0.0, 0.0, 0.0, 1.2184696791468346e-07, 0.0, 0.0, 0.0, 1.2184696791468346e-07]
linear_acceleration: 
  x: 0.5295591
  y: -0.06864655
  z: 9.9635564
linear_acceleration_covariance: [8.999999999999999e-08, 0.0, 0.0, 0.0, 8.999999999999999e-08, 0.0, 0.0, 0.0, 8.999999999999999e-08]
---
~$ rostopic echo /mavros/battery
header: 
  seq: 781
  stamp: 
    secs: 1646996773
    nsecs: 755446069
  frame_id: ''
voltage: 11.3179998398
current: -0.0
charge: nan
capacity: nan
design_capacity: nan
percentage: 1.0
power_supply_status: 2
power_supply_health: 0
power_supply_technology: 0
present: True
cell_voltage: [11.317999839782715]
location: "id0"
serial_number: ''
---

I just wait forever for these topics and the others I add these tw just an example.
nothing appears when I run:
~$ rostopic echo /mavros/esc_info
~$ rostopic echo /mavros/mag_calibration/status

Briefly, If I am right, I have to write some program to see /mavros/to topic outputs, but I don’t have an idea for non-visible topics outputs.
Last part of my question is about Lidar, I am gonna use TFmim Plus and I am planning to connect to my Jetson Nano, I got then ROS package from github and I am planninf to use that package but two days later I saw distance_sensor code from mavros_extras folder, so I got confused, Can I use distance_sensor file for TF mini Plus or do I have to add ROS package for that?

Thanks in advance and spending time fot that issue.
Have a nice day!