Connecting the customworksapce which is created from px4_sitl git Repo

QGroundControl
1

Setup Overview:**
PX4 Versio: PX4-Autopilot SITL
Gazebo: Using a custom world with a custom PX4Vision drone SDF model
ROS 2: ROS 2 Humble
Workspace: Created a custom ROS 2 workspace (hemdrone_ws) to launch the PX4Vision drone in the custom world
MAVROS: Launched separately using ROS 2
QGroundControl: Launched via .AppImage

:white_check_mark: Current Status:**

Gazebo simulation is running.
Drone spawns successfully in the custom world.

MAVROS appears not to be connected to PX4, but topics are still visible.
QGroundControl does NOT connect (no heartbeat or vehicle detected).

:cross_mark: Issue:

MAVROS is receiving data from PX4, but QGroundControl does not connect to the drone.
I checked netstat and UDP 14550 is used multiple times.
QGC shows UDP: Could not resolve host: "" port: 14550.

:puzzle_piece: My Question:

How do I correctly connect PX4-Gazebo-MAVROS-QGC together when using a custom drone model and world?

  1. What exact mavlink start commands do I need in my PX4 startup scripts to ensure UDP 14550 and 14540 are used properly?
  2. Should I manually configure QGC to listen on 14550 or does PX4 need to initiate?
  3. Is there any ROS 2 or MAVROS setting I need to sync with PX4’s UDP settings?