Mavros connection in sitl

ROS / MAVROS / MicroDDS
1

I am running px4 in the sitl mode and using gazebo-classic to simulate the drone
but when I launch mavros by running roslaunch mavros px4.launch
I can not use the px4 console and the following is printed on the px4 console
ODOMETRY: estimator_type 8 unsupported
I tried to find anything related but I could not find anything. and I got
RTT too high for timesync: 1508 ms sometimes.

by echoing the diagnostic topic I got the following:

header:
seq: 352
stamp:
secs: 1714227024
nsecs: 319443874
frame_id: ‘’
status:

level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "udp://:14540@127.0.0.1:14557"
values: 
  - 
    key: "Received packets:"
    value: "14489"
  - 
    key: "Dropped packets:"
    value: "0"
  - 
    key: "Buffer overruns:"
    value: "0"
  - 
    key: "Parse errors:"
    value: "0"
  - 
    key: "Rx sequence number:"
    value: "221"
  - 
    key: "Tx sequence number:"
    value: "0"
  - 
    key: "Rx total bytes:"
    value: "7723733"
  - 
    key: "Tx total bytes:"
    value: "6634158"
  - 
    key: "Rx speed:"
    value: "45017.000000"
  - 
    key: "Tx speed:"
    value: "38363.000000"

  • level: 0
    name: “mavros: GPS”
    message: “3D fix”
    hardware_id: “udp://:14540@127.0.0.1:14557”
    values:

    key: "Satellites visible"
value: "10"
    • key: “Fix type”
      value: “3”
    • key: “EPH (m)”
      value: “0.00”
    • key: “EPV (m)”
      value: “0.00”

  • level: 1
    name: “mavros: Mount”
    message: “Can not diagnose in this targeting mode”
    hardware_id: “udp://:14540@127.0.0.1:14557”
    values:

    key: "Mode"
value: "255"

  • level: 0
    name: “mavros: Heartbeat”
    message: “Normal”
    hardware_id: “udp://:14540@127.0.0.1:14557”
    values:

    key: "Heartbeats since startup"
value: "2071"
    • key: “Frequency (Hz)”
      value: “3.733326”
    • key: “Vehicle type”
      value: “Quadrotor”
    • key: “Autopilot type”
      value: “PX4 Autopilot”
    • key: “Mode”
      value: “AUTO.LOITER”
    • key: “System status”
      value: “Standby”

  • level: 2
    name: “mavros: System”
    message: “Sensor health”
    hardware_id: “udp://:14540@127.0.0.1:14557”
    values:

    key: "Sensor present"
value: "0x0220802D"
    • key: “Sensor enabled”
      value: “0x0221802D”
    • key: “Sensor health”
      value: “0x3220803F”
    • key: “3D gyro”
      value: “Ok”
    • key: “3D magnetometer”
      value: “Ok”
    • key: “absolute pressure”
      value: “Ok”
    • key: “GPS”
      value: “Ok”
    • key: “motor outputs / control”
      value: “Ok”
    • key: “rc receiver”
      value: “Fail”
    • key: “AHRS subsystem health”
      value: “Ok”
    • key: “Battery”
      value: “Ok”
    • key: “CPU Load (%)”
      value: “14.0”
    • 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: 0
    name: “mavros: Battery”
    message: “Normal”
    hardware_id: “udp://:14540@127.0.0.1:14557”
    values:

    key: "Voltage"
value: "16.20"
    • key: “Current”
      value: “1.0”
    • key: “Remaining”
      value: “100.0”

  • level: 0
    name: “mavros: Time Sync”
    message: “Normal”
    hardware_id: “udp://:14540@127.0.0.1:14557”
    values:

    key: "Timesyncs since startup"
value: "2888"
    • key: “Frequency (Hz)”
      value: “10.266629”
    • key: “Last RTT (ms)”
      value: “0.161011”
    • key: “Mean RTT (ms)”
      value: “463.342359”
    • key: “Last remote time (s)”
      value: “263.976000000”
    • key: “Estimated time offset (s)”
      value: “1714226760.327714205”
      header:
      seq: 353
      stamp:
      secs: 1714227024
      nsecs: 319503505
      frame_id: ‘’
      status:

  • level: 0
    name: “mavros: GCS bridge”
    message: “connected”
    hardware_id: “udp://:14550@”
    values:

    key: "Received packets:"
value: "9022"
    • key: “Dropped packets:”
      value: “0”
    • key: “Buffer overruns:”
      value: “0”
    • key: “Parse errors:”
      value: “0”
    • key: “Rx sequence number:”
      value: “247”
    • key: “Tx sequence number:”
      value: “0”
    • key: “Rx total bytes:”
      value: “6348603”
    • key: “Tx total bytes:”
      value: “7723733”
    • key: “Rx speed:”
      value: “37242.000000”
    • key: “Tx speed:”
      value: “45017.000000”

header:
seq: 354
stamp:
secs: 1714227025
nsecs: 819453601
frame_id: ‘’
status:

level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "udp://:14540@127.0.0.1:14557"
values: 
  - 
    key: "Received packets:"
    value: "15389"
  - 
    key: "Dropped packets:"
    value: "0"
  - 
    key: "Buffer overruns:"
    value: "0"
  - 
    key: "Parse errors:"
    value: "0"
  - 
    key: "Rx sequence number:"
    value: "193"
  - 
    key: "Tx sequence number:"
    value: "0"
  - 
    key: "Rx total bytes:"
    value: "7769247"
  - 
    key: "Tx total bytes:"
    value: "6672639"
  - 
    key: "Rx speed:"
    value: "45514.000000"
  - 
    key: "Tx speed:"
    value: "38481.000000"

  • level: 0
    name: “mavros: GPS”
    message: “3D fix”
    hardware_id: “udp://:14540@127.0.0.1:14557”
    values:

    key: "Satellites visible"
value: "10"
    • key: “Fix type”
      value: “3”
    • key: “EPH (m)”
      value: “0.00”
    • key: “EPV (m)”
      value: “0.00”

  • level: 1
    name: “mavros: Mount”
    message: “Can not diagnose in this targeting mode”
    hardware_id: “udp://:14540@127.0.0.1:14557”
    values:

    key: "Mode"
value: "255"

  • level: 0
    name: “mavros: Heartbeat”
    message: “Normal”
    hardware_id: “udp://:14540@127.0.0.1:14557”
    values:

    key: "Heartbeats since startup"
value: "2073"
    • key: “Frequency (Hz)”
      value: “3.399999”
    • key: “Vehicle type”
      value: “Quadrotor”
    • key: “Autopilot type”
      value: “PX4 Autopilot”
    • key: “Mode”
      value: “AUTO.LOITER”
    • key: “System status”
      value: “Standby”

  • level: 2
    name: “mavros: System”
    message: “Sensor health”
    hardware_id: “udp://:14540@127.0.0.1:14557”
    values:

    key: "Sensor present"
value: "0x0220802D"
    • key: “Sensor enabled”
      value: “0x0221802D”
    • key: “Sensor health”
      value: “0x3220803F”
    • key: “3D gyro”
      value: “Ok”
    • key: “3D magnetometer”
      value: “Ok”
    • key: “absolute pressure”
      value: “Ok”
    • key: “GPS”
      value: “Ok”
    • key: “motor outputs / control”
      value: “Ok”
    • key: “rc receiver”
      value: “Fail”
    • key: “AHRS subsystem health”
      value: “Ok”
    • key: “Battery”
      value: “Ok”
    • key: “CPU Load (%)”
      value: “12.0”
    • 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: 0
    name: “mavros: Battery”
    message: “Normal”
    hardware_id: “udp://:14540@127.0.0.1:14557”
    values:

    key: "Voltage"
value: "16.20"
    • key: “Current”
      value: “1.0”
    • key: “Remaining”
      value: “100.0”

  • level: 0
    name: “mavros: Time Sync”
    message: “Normal”
    hardware_id: “udp://:14540@127.0.0.1:14557”
    values:

    key: "Timesyncs since startup"
value: "2903"
    • key: “Frequency (Hz)”
      value: “10.266658”
    • key: “Last RTT (ms)”
      value: “0.177401”
    • key: “Mean RTT (ms)”
      value: “460.949084”
    • key: “Last remote time (s)”
      value: “265.476000000”
    • key: “Estimated time offset (s)”
      value: “1714226760.328504324”