How to control r1_rover moving in Gazebo ROS2

PX4 Autopilot
1

I bring up r1_rover using:

$ make px4_sitl_default gazebo-classic_r1_rover
$ MicroXRCEAgent udp4 -p 8888

Then I use px4_ros_com offboard control to publish ‘/fmu/in/trajectory_setpoint’ with goal position but r1_rover remains still.

‘/fmu/in/trajectory_setpoint’ works for iris model.