Mission transfer error when connected with companion computer

Hi I am using pixhawk 2 with v1.7.2 firmware. It is connected to a companion computer via TELEM2 port (921600, 8N1). The companion computer is running ROS and MAVROS.

The issue that I am facing currently is that if I connect a companion computer and try uploading a mission, then I get the following error in the QGC:

“Vehicle sent unexpected MISSION_ACK message, error: Mission accepted(MAV_MISSION_ACCEPTED)”

As soon as I switch off my companion computer or remove TELEM2, then it works fine.
Please help!