Multiple obstacle avoidance drone simulation

nice to meet you. I’ve been researching obstacle avoidance drones in simulation by referring to .
I want to fly several drones, but it’s not going well because of some errors.
The sdf-based multi-drone simulations provided by px4 work well, but the multi-drone simulations for obstacle avoidance are difficult.
You succeeded in spawning two obstacle avoidance drones, both of which change off-board mode, but only the first drone reaches the target position.
The second drone fails arm.
The console log says "

WARN [commander] Arming denied! Avoidance system not ready

Can you help me to find out what those warnings are and how to fix them?
Or have you ever done this?