I hope this is the right place to post. I am trying to use the SITL simulation with Gazebo and ROS. I took the iris xacro files from the RotorS simulator framework from ETHZ and I wrote a launch files based on the mavros_posix_sitl.launch file. Everything seems to be launched properly (px4, gazebo, mavros), the drone is spawned in Gazebo but I keep getting the following message on the console "WARN [lib__ecl] EKF baro hgt timeout - reset to baro". When I look at the rostopic /mavros/local_position/pose the z value of the pose swings between -2 and 10, which I believe is the reason why I get that warning. Before the warning messages, everyting seems to initialize properly (I get messages stating that a high resolution IMU and an attitude quaternion IMU have been detected, GPS checks passed, commencing GPS fusion). I am completely at a loss to understand why that z value is behaving like that. When I test with the iris sdf file provided everything works properly, the z value is stable. I have tried to compare the urdf file generated with xacro and the sdf but I don't see what the issue could be. I am running in debug and verbose mode but it does not help. If anyone could provide some pointers on where to look or what to do to track down the error, or if you have any idea what might be probable causes that would be tremendously helpful.
Thanks for the help.