Trying to use mavros control thrusters

Currently, I am using pixhawk4 with ardurover 4.1.3 boat firm. Instead of using autopilot on arudpilot, I prefer to try my own method. I used roslaunch mavros px4.launch to connect pixhawk and companion computer. However, I tried overridercin, actuator_control, and set_atiitude/ thrust commands, topics could receive changes but the inspector (servo_output_raw) from qgroundcontrol does not change corresponding to the value I set. Could anyone help me with this and give me some hints?