Unable to set EKF origin on mavros(hector-slam)

hi,
I was trying out hector_slam and cartographer ros using mavros.
I am using jetson-nano as my companion computer and cube-black with Mission Planner(1.3.74.1). I have connected my flight controller through USB_UART and my companion computer is connected through telem2.
Talking about cartographer: I am able to select EKF origin, able to feed mission to ardupilot and works as expected.
Hector_slam:
I have configured exactly as given in the AP doc and hector-slam
I am able to arm and disarm through mavros mavsafety but when I am unable to set EKF_Origin.
when I select “Set Home Here” >> “Set EKF Origin, no error message reads but my rover doesn’t show up in the map and I cannot see any vision position estimates flowing into ardupilot in the messages tab.

when i run: $ roslaunch mavros apm.launch fcu_url:=/dev/ttyUSB1:921600
… logging to /home/ap/.ros/log/d49828fc-66e7-11eb-9e74-a0a4c5687329/roslaunch-slam-26187.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://slam:38737/

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/ttyUSB1:921600
 * /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: 1.14.10

NODES
  /
    mavros (mavros/mavros_node)

ROS_MASTER_URI=http://localhost:11311

process[mavros-1]: started with pid [26206]
[ INFO] [1612443159.834699052]: FCU URL: /dev/ttyUSB1:921600
[ INFO] [1612443159.839955431]: serial0: device: /dev/ttyUSB1 @ 921600 bps
[ INFO] [1612443159.841688566]: GCS bridge disabled
[ INFO] [1612443159.870954115]: Plugin 3dr_radio loaded
[ INFO] [1612443159.875224119]: Plugin 3dr_radio initialized
[ INFO] [1612443159.875352233]: Plugin actuator_control blacklisted
[ INFO] [1612443159.885097140]: Plugin adsb loaded
[ INFO] [1612443159.892145607]: Plugin adsb initialized
[ INFO] [1612443159.892234922]: Plugin altitude blacklisted
[ INFO] [1612443159.892451623]: Plugin cam_imu_sync loaded
[ INFO] [1612443159.894004304]: Plugin cam_imu_sync initialized
[ INFO] [1612443159.894293759]: Plugin command loaded
[ INFO] [1612443159.909060116]: Plugin command initialized
[ INFO] [1612443159.909328791]: Plugin companion_process_status loaded
[ INFO] [1612443159.914766978]: Plugin companion_process_status initialized
[ INFO] [1612443159.914847700]: Plugin debug_value blacklisted
[ INFO] [1612443159.915075181]: Plugin distance_sensor loaded
[ INFO] [1612443159.933780476]: Plugin distance_sensor initialized
[ INFO] [1612443159.934086648]: Plugin esc_status loaded
[ INFO] [1612443159.937260964]: Plugin esc_status initialized
[ INFO] [1612443159.937595154]: Plugin fake_gps loaded
[ INFO] [1612443159.975280149]: Plugin fake_gps initialized
[ INFO] [1612443159.975374620]: Plugin ftp blacklisted
[ INFO] [1612443159.975733132]: Plugin global_position loaded
[ INFO] [1612443160.011872425]: Plugin global_position initialized
[ INFO] [1612443160.012179900]: Plugin gps_rtk loaded
[ INFO] [1612443160.018617170]: Plugin gps_rtk initialized
[ INFO] [1612443160.018912093]: Plugin gps_status loaded
[ INFO] [1612443160.025338739]: Plugin gps_status initialized
[ INFO] [1612443160.025429408]: Plugin hil blacklisted
[ INFO] [1612443160.025711728]: Plugin home_position loaded
[ INFO] [1612443160.035387840]: Plugin home_position initialized
[ INFO] [1612443160.035769630]: Plugin imu loaded
[ INFO] [1612443160.052500304]: Plugin imu initialized
[ INFO] [1612443160.052818558]: Plugin landing_target loaded
[ INFO] [1612443160.084666134]: Plugin landing_target initialized
[ INFO] [1612443160.085283686]: Plugin local_position loaded
[ INFO] [1612443160.103193583]: Plugin local_position initialized
[ INFO] [1612443160.103488038]: Plugin log_transfer loaded
[ INFO] [1612443160.109935359]: Plugin log_transfer initialized
[ INFO] [1612443160.110246583]: Plugin manual_control loaded
[ INFO] [1612443160.118257574]: Plugin manual_control initialized
[ INFO] [1612443160.118581089]: Plugin mocap_pose_estimate loaded
[ INFO] [1612443160.129159937]: Plugin mocap_pose_estimate initialized
[ INFO] [1612443160.129575579]: Plugin mount_control loaded
[ INFO] [1612443160.136826530]: Plugin mount_control initialized
[ INFO] [1612443160.137153690]: Plugin obstacle_distance loaded
[ INFO] [1612443160.143037725]: Plugin obstacle_distance initialized
[ INFO] [1612443160.143333325]: Plugin odom loaded
[ INFO] [1612443160.152295070]: Plugin odom initialized
[ INFO] [1612443160.152618272]: Plugin onboard_computer_status loaded
[ INFO] [1612443160.158884046]: Plugin onboard_computer_status initialized
[ INFO] [1612443160.159256879]: Plugin param loaded
[ INFO] [1612443160.165740604]: Plugin param initialized
[ INFO] [1612443160.166006310]: Plugin play_tune loaded
[ INFO] [1612443160.171202800]: Plugin play_tune initialized
[ INFO] [1612443160.171302479]: Plugin px4flow blacklisted
[ INFO] [1612443160.171552718]: Plugin rangefinder loaded
[ INFO] [1612443160.173149719]: Plugin rangefinder initialized
[ INFO] [1612443160.173410166]: Plugin rc_io loaded
[ INFO] [1612443160.182212653]: Plugin rc_io initialized
[ INFO] [1612443160.182366754]: Plugin safety_area blacklisted
[ INFO] [1612443160.182842860]: Plugin setpoint_accel loaded
[ INFO] [1612443160.190781462]: Plugin setpoint_accel initialized
[ INFO] [1612443160.191136484]: Plugin setpoint_attitude loaded
[ INFO] [1612443160.210491832]: Plugin setpoint_attitude initialized
[ INFO] [1612443160.210866592]: Plugin setpoint_position loaded
[ INFO] [1612443160.246008422]: Plugin setpoint_position initialized
[ INFO] [1612443160.246438803]: Plugin setpoint_raw loaded
[ INFO] [1612443160.265783995]: Plugin setpoint_raw initialized
[ INFO] [1612443160.266105218]: Plugin setpoint_trajectory loaded
[ INFO] [1612443160.278539118]: Plugin setpoint_trajectory initialized
[ INFO] [1612443160.278900077]: Plugin setpoint_velocity loaded
[ INFO] [1612443160.293060238]: Plugin setpoint_velocity initialized
[ INFO] [1612443160.293437498]: Plugin sys_status loaded
[ INFO] [1612443160.318767707]: Plugin sys_status initialized
[ INFO] [1612443160.319135384]: Plugin sys_time loaded
[ INFO] [1612443160.330023841]: TM: Timesync mode: MAVLINK
[ INFO] [1612443160.332979374]: Plugin sys_time initialized
[ INFO] [1612443160.333265443]: Plugin trajectory loaded
[ INFO] [1612443160.347082404]: Plugin trajectory initialized
[ INFO] [1612443160.347510180]: Plugin vfr_hud loaded
[ INFO] [1612443160.349653177]: Plugin vfr_hud initialized
[ INFO] [1612443160.349818996]: Plugin vibration blacklisted
[ INFO] [1612443160.350083609]: Plugin vision_pose_estimate loaded
[ INFO] [1612443160.365513611]: Plugin vision_pose_estimate initialized
[ INFO] [1612443160.365638548]: Plugin vision_speed_estimate blacklisted
[ INFO] [1612443160.365999872]: Plugin waypoint loaded
[ INFO] [1612443160.379847976]: Plugin waypoint initialized
[ INFO] [1612443160.380058687]: Plugin wheel_odometry blacklisted
[ INFO] [1612443160.380395377]: Plugin wind_estimation loaded
[ INFO] [1612443160.382027427]: Plugin wind_estimation initialized
[ INFO] [1612443160.382231316]: Built-in SIMD instructions: ARM NEON
[ INFO] [1612443160.382707370]: Built-in MAVLink package version: 2021.1.4
[ INFO] [1612443160.382861576]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1612443160.383089525]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1612443160.389810886]: RC_CHANNELS message detected!
[ INFO] [1612443160.390863245]: IMU: Raw IMU message used.
[ WARN] [1612443160.390995786]: IMU: linear acceleration on RAW_IMU known on APM only.
[ WARN] [1612443160.391081821]: IMU: ~imu/data_raw stores unscaled raw acceleration report.
[ WARN] [1612443160.407821660]: GP: No GPS fix
[ WARN] [1612443160.408361510]: TM: Wrong FCU time.
[ WARN] [1612443160.708359143]: TM : RTT too high for timesync: 74.94 ms.
[ INFO] [1612443160.808555074]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[ INFO] [1612443160.832157564]: RC_CHANNELS message detected!
[ WARN] [1612443161.050912417]: TM : RTT too high for timesync: 117.61 ms.
[ WARN] [1612443161.350626479]: TM : RTT too high for timesync: 117.17 ms.
[ WARN] [1612443161.628267709]: TM : RTT too high for timesync: 94.89 ms.
[ WARN] [1612443161.828302290]: CMD: Unexpected command 520, result 0
[ INFO] [1612443161.830314621]: WP: Using MISSION_ITEM_INT
[ INFO] [1612443161.830743960]: VER: 1.1: Capabilities         0x000000000000d1ef
[ INFO] [1612443161.831133354]: VER: 1.1: Flight software:     040000ff ( 0e52baf)
[ INFO] [1612443161.831481606]: VER: 1.1: Middleware software: 00000000 (        )
[ INFO] [1612443161.831963232]: VER: 1.1: OS software:         00000000 ( 0997003)
[ INFO] [1612443161.832303568]: VER: 1.1: Board hardware:      00000000
[ INFO] [1612443161.832587555]: VER: 1.1: VID/PID:             0000:0000
[ INFO] [1612443161.832813317]: VER: 1.1: UID:                 0000000000000000
[ WARN] [1612443161.948980734]: TM : RTT too high for timesync: 15.73 ms.
[ WARN] [1612443162.208304894]: TM : RTT too high for timesync: 75.18 ms.
[ WARN] [1612443162.549952151]: TM : RTT too high for timesync: 116.55 ms.
[ WARN] [1612443162.849173544]: TM : RTT too high for timesync: 115.86 ms.
[ WARN] [1612443163.128701506]: TM : RTT too high for timesync: 94.25 ms.
[ WARN] [1612443163.449278867]: TM : RTT too high for timesync: 15.95 ms.
[ WARN] [1612443163.727559615]: TM : RTT too high for timesync: 94.14 ms.
[ WARN] [1612443164.088731090]: TM : RTT too high for timesync: 255.34 ms.
[ WARN] [1612443164.328032331]: TM : RTT too high for timesync: 94.72 ms.
[ WARN] [1612443164.627504687]: TM : RTT too high for timesync: 93.84 ms.
[ WARN] [1612443164.949085299]: TM : RTT too high for timesync: 15.63 ms.
[ WARN] [1612443165.208585719]: TM : RTT too high for timesync: 75.06 ms.
[ WARN] [1612443165.549736833]: TM : RTT too high for timesync: 116.29 ms.
[ WARN] [1612443165.828644653]: TM : RTT too high for timesync: 94.93 ms.
[ WARN] [1612443166.149729185]: TM : RTT too high for timesync: 116.35 ms.
[ WARN] [1612443166.449022540]: TM : RTT too high for timesync: 15.36 ms.
[ WARN] [1612443166.707365296]: TM : RTT too high for timesync: 73.98 ms.
[ WARN] [1612443167.049860061]: TM : RTT too high for timesync: 116.41 ms.
[ WARN] [1612443167.327070665]: TM : RTT too high for timesync: 93.42 ms.
[ WARN] [1612443167.626674148]: TM : RTT too high for timesync: 93.21 ms.
[ WARN] [1612443167.849185028]: TM : RTT too high for timesync: 15.54 ms.
[ WARN] [1612443168.148211916]: TM : RTT too high for timesync: 15.09 ms.
[ WARN] [1612443168.549322965]: TM : RTT too high for timesync: 216.25 ms.
[ WARN] [1612443168.747994452]: TM : RTT too high for timesync: 14.88 ms.
[ WARN] [1612443169.067436610]: TM : RTT too high for timesync: 134.27 ms.
[ WARN] [1612443169.350052483]: TM : RTT too high for timesync: 16.75 ms.
[ WARN] [1612443169.648719526]: TM : RTT too high for timesync: 14.65 ms.
[ WARN] [1612443170.048337491]: TM : RTT too high for timesync: 15.21 ms.
[ WARN] [1612443170.248041563]: TM : RTT too high for timesync: 14.64 ms.
[ WARN] [1612443170.548399088]: TM : RTT too high for timesync: 15.04 ms.
[ INFO] [1612443170.809183686]: HP: requesting home position
[ INFO] [1612443170.826894619]: FCU: ArduRover V4.0.0 (0e52bafa)
[ INFO] [1612443170.828768578]: FCU: ChibiOS: 0997003f
[ INFO] [1612443170.829040952]: FCU: CubeBlack 00330019 33385115 38323833
[ WARN] [1612443170.847795183]: TM : RTT too high for timesync: 14.67 ms.
[ WARN] [1612443171.148325896]: TM : RTT too high for timesync: 15.07 ms.
[ WARN] [1612443171.548190994]: TM : RTT too high for timesync: 14.99 ms.
[ WARN] [1612443171.747798649]: TM : RTT too high for timesync: 14.69 ms.
[ WARN] [1612443172.086347203]: TM : RTT too high for timesync: 153.11 ms.
[ WARN] [1612443172.348737014]: TM : RTT too high for timesync: 15.27 ms.
[ WARN] [1612443172.648184817]: TM : RTT too high for timesync: 14.74 ms.
[ WARN] [1612443173.048507658]: TM : RTT too high for timesync: 215.13 ms.
[ WARN] [1612443175.648684717]: TM : RTT too high for timesync: 15.24 ms.
[ INFO] [1612443175.848264586]: WP: item #0  F:
[ INFO] [1612443175.867001283]: WP: item #1  F: C: 16 p: 0 0 0 0 x: 361925672 y: 1396542579 z: 100
[ INFO] [1612443175.868184155]: WP: mission received
[ WARN] [1612443176.047389657]: TM : RTT too high for timesync: 213.94 ms.
[ WARN] [1612443176.247239276]: TM : RTT too high for timesync: 13.35 ms.
[ WARN] [1612443176.566439931]: TM : RTT too high for timesync: 132.96 ms.
[ WARN] [1612443176.847591818]: TM : RTT too high for timesync: 14.46 ms.
[ WARN] [1612443177.147977054]: TM : RTT too high for timesync: 14.81 ms.
[ WARN] [1612443177.548136632]: TM : RTT too high for timesync: 15.02 ms.
[ WARN] [1612443177.725960162]: TM : RTT too high for timesync: 92.79 ms.
[ WARN] [1612443178.047124675]: TM : RTT too high for timesync: 14.01 ms.
[ WARN] [1612443178.325526095]: TM : RTT too high for timesync: 92.19 ms.
[ WARN] [1612443178.625059494]: TM : RTT too high for timesync: 91.90 ms.
[ WARN] [1612443178.947342346]: TM : RTT too high for timesync: 14.23 ms.
[ WARN] [1612443179.204812740]: TM : RTT too high for timesync: 71.65 ms.
[ WARN] [1612443179.547093916]: TM : RTT too high for timesync: 113.97 ms.
[ WARN] [1612443179.846498936]: TM : RTT too high for timesync: 113.34 ms.
[ WARN] [1612443180.105065778]: TM : RTT too high for timesync: 71.90 ms.
[ WARN] [1612443180.446341152]: TM : RTT too high for timesync: 13.11 ms.
[ WARN] [1612443180.705886637]: TM : RTT too high for timesync: 72.72 ms.
[ INFO] [1612443180.809157698]: HP: requesting home position
[ WARN] [1612443181.049430689]: TM : RTT too high for timesync: 115.47 ms.
[ WARN] [1612443183.125272903]: TM : RTT too high for timesync: 91.97 ms.
[ WARN] [1612443183.446714726]: TM : RTT too high for timesync: 13.31 ms.
[ WARN] [1612443183.705394676]: TM : RTT too high for timesync: 72.02 ms.
[ WARN] [1612443183.948054770]: PR: Param STAT_RUNTIME (65535/946): <value><i4>128073</i4></value> different index: 629/946
[ WARN] [1612443184.047285692]: TM : RTT too high for timesync: 113.66 ms.
[ WARN] [1612443184.325458596]: TM : RTT too high for timesync: 92.27 ms.
[ WARN] [1612443190.046929147]: TM : RTT too high for timesync: 13.74 ms.
[ WARN] [1612443190.245580505]: TM : RTT too high for timesync: 12.45 ms.
[ WARN] [1612443190.548282402]: TM : RTT too high for timesync: 14.88 ms.
[ WARN] [1612443190.704904910]: GP: No GPS fix
[ INFO] [1612443190.809457284]: HP: requesting home position
[ WARN] [1612443193.049944001]: TM : RTT too high for timesync: 216.81 ms.
[ WARN] [1612443193.245447940]: TM : RTT too high for timesync: 12.27 ms.
[ WARN] [1612443193.564755439]: TM : RTT too high for timesync: 131.63 ms.
[ WARN] [1612443193.847313860]: TM : RTT too high for timesync: 14.21 ms.
[ INFO] [1612443194.046801190]: PR: parameters list received
[ WARN] [1612443194.144665770]: TM : RTT too high for timesync: 11.54 ms.
[ WARN] [1612443198.944161247]: TM : RTT too high for timesync: 10.95 ms.
[ WARN] [1612443199.203430177]: TM : RTT too high for timesync: 70.24 ms.
[ WARN] [1612443199.545329908]: TM : RTT too high for timesync: 112.08 ms.
[ WARN] [1612443199.845281245]: TM : RTT too high for timesync: 112.02 ms.
[ WARN] [1612443200.144834355]: TM : RTT too high for timesync: 111.52 ms.
[ WARN] [1612443200.444163964]: TM : RTT too high for timesync: 10.75 ms.
[ WARN] [1612443200.702759089]: TM : RTT too high for timesync: 68.69 ms.
[ INFO] [1612443200.809303918]: HP: requesting home position
[ WARN] [1612443201.045222170]: TM : RTT too high for timesync: 111.80 ms.
[ WARN] [1612443204.944124607]: TM : RTT too high for timesync: 10.51 ms.
[ WARN] [1612443205.544143963]: TM : RTT too high for timesync: 10.57 ms.
[ WARN] [1612443205.745166694]: TM : RTT too high for timesync: 11.42 ms.
[ WARN] [1612443206.063949730]: TM : RTT too high for timesync: 130.76 ms.
[ WARN] [1612443206.344062916]: TM : RTT too high for timesync: 10.79 ms.
[ WARN] [1612443206.643440297]: TM : RTT too high for timesync: 10.08 ms.
[ WARN] [1612443209.344117634]: TM : RTT too high for timesync: 10.70 ms.
[ WARN] [1612443209.643597227]: TM : RTT too high for timesync: 10.27 ms.
[ WARN] [1612443210.044001919]: TM : RTT too high for timesync: 210.64 ms.
[ INFO] [1612443210.810059584]: HP: requesting home position
[ WARN] [1612443211.202914000]: TM : RTT too high for timesync: 69.40 ms.
[ WARN] [1612443211.743454535]: TM : RTT too high for timesync: 10.19 ms.
[ WARN] [1612443212.702934197]: TM : RTT too high for timesync: 69.46 ms.
[ WARN] [1612443213.221749677]: TM : RTT too high for timesync: 88.20 ms.
[ WARN] [1612443213.744693638]: TM : RTT too high for timesync: 10.31 ms.
[ WARN] [1612443214.201399270]: TM : RTT too high for timesync: 67.89 ms.
[ WARN] [1612443220.482803603]: TM: Wrong FCU time.
[ INFO] [1612443220.809370620]: HP: requesting home position
[ WARN] [1612443220.826845094]: GP: No GPS fix
[ INFO] [1612443230.809029253]: HP: requesting home position
[ INFO] [1612443240.809274552]: HP: requesting home position
[ INFO] [1612443250.809453114]: HP: requesting home position
[ WARN] [1612443250.899254385]: GP: No GPS fix
[ INFO] [1612443260.809091568]: HP: requesting home position
[ WARN] [1612443269.714932483]: TM : RTT too high for timesync: 81.33 ms.
[ WARN] [1612443270.536834598]: TM : RTT too high for timesync: 203.05 ms.
[ INFO] [1612443270.811492127]: HP: requesting home position

$ rostopic echo -n1 /diagnostics

header: 
  seq: 12
  stamp: 
    secs: 1612444762
    nsecs:  68354619
  frame_id: ''
status: 
  - 
    level: 0
    name: "mavros: FCU connection"
    message: "connected"
    hardware_id: "/dev/ttyUSB1:921600"
    values: 
      - 
        key: "Received packets:"
        value: "2193"
      - 
        key: "Dropped packets:"
        value: "0"
      - 
        key: "Buffer overruns:"
        value: "0"
      - 
        key: "Parse errors:"
        value: "0"
      - 
        key: "Rx sequence number:"
        value: "177"
      - 
        key: "Tx sequence number:"
        value: "0"
      - 
        key: "Rx total bytes:"
        value: "65089"
      - 
        key: "Tx total bytes:"
        value: "2448"
      - 
        key: "Rx speed:"
        value: "8084.000000"
      - 
        key: "Tx speed:"
        value: "320.000000"
  - 
    level: 2
    name: "mavros: GPS"
    message: "No satellites"
    hardware_id: "/dev/ttyUSB1:921600"
    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/ttyUSB1:921600"
    values: 
      - 
        key: "Heartbeats since startup"
        value: "8"
      - 
        key: "Frequency (Hz)"
        value: "1.053970"
      - 
        key: "Vehicle type"
        value: "Ground rover"
      - 
        key: "Autopilot type"
        value: "ArduPilot"
      - 
        key: "Mode"
        value: "HOLD"
      - 
        key: "System status"
        value: "Critical"
  - 
    level: 2
    name: "mavros: System"
    message: "Sensor health"
    hardware_id: "/dev/ttyUSB1:921600"
    values: 
      - 
        key: "Sensor present"
        value: "0x0320DC0B"
      - 
        key: "Sensor enabled"
        value: "0x0220800B"
      - 
        key: "Sensor health"
        value: "0x0310810B"
      - 
        key: "3D gyro"
        value: "Ok"
      - 
        key: "3D accelerometer"
        value: "Ok"
      - 
        key: "absolute pressure"
        value: "Ok"
      - 
        key: "motor outputs / control"
        value: "Ok"
      - 
        key: "AHRS subsystem health"
        value: "Fail"
      - 
        key: "Battery"
        value: "Ok"
      - 
        key: "CPU Load (%)"
        value: "14.1"
      - 
        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: 1
    name: "mavros: Battery"
    message: "Low voltage"
    hardware_id: "/dev/ttyUSB1:921600"
    values: 
      - 
        key: "Voltage"
        value: "0.66"
      - 
        key: "Current"
        value: "1.0"
      - 
        key: "Remaining"
        value: "84.0"
  - 
    level: 1
    name: "mavros: Time Sync"
    message: "Frequency too high."
    hardware_id: "/dev/ttyUSB1:921600"
    values: 
      - 
        key: "Timesyncs since startup"
        value: "150"
      - 
        key: "Frequency (Hz)"
        value: "19.824528"
      - 
        key: "Last RTT (ms)"
        value: "6.835189"
      - 
        key: "Mean RTT (ms)"
        value: "10749619179.034370"
      - 
        key: "Last remote time (s)"
        value: "1895.055879000"
      - 
        key: "Estimated time offset (s)"
        value: "1612442866.96720671

neither the vision pose estimates flows nor I am getting any errors.
Though I read similar threads related to hector_slam, I did not come across a solution.
Can someone tell me what am I doing wrong in hector_slam?

Hello @siddharth_b,

Did you find a solution? I have the same situation and the same mavros messages, hector_slam do not provide pose to ardupilot. I also tried to remap /slam_out_pose to /mavros/vision_pose/pose, but it did not help.