Modal AI RB5 Drone and MAVROS

Hi, I’m trying to setup offboard control of a modal AI RB5 Drone ( Qualcomm Flight RB5 5G Platform Drone Reference Design | ModalAI, Inc.

This drone runs PX4. So far I’m able to connect to it and arm it over Q Ground control as well as rosservice call /mavros/cmd/arming True

I can rostopic echo several topics and it seems to be working as intended.

so my next step is to try sending velocity commands to it. I try using rqt to publish to /mavros/setpoint_velocity/cmd_vel
However this appears to have no effect. I have the props removed and the drone armed. With the drone arm, its motors spin at a constant speed, and that speed does not change after publishing to /mavros/setpoint_velocity/cmd_vel

How do I get the drone to respond to velocity / position commands? Is there some kind of configuration I have to do at the PX4 side on the drone or is it an issue on the MAVROS side on my computer?