Not able to send attitude_setpoint commands in SITL

#1

Hello,
I am using Pixhawk for my quadrotor.
I want to fly it indoors. There is no GPS/mocap available. I have rangesensor and optical flow sensor on the robot.
Right now, I only want to send in the Roll-Pitch-Yaw-Thrust (RPYT) commands to the FCU.

I am not sure if I am missing something or there is some bug in pixhawk code, but when I just try to publish the TargetAttitude or PoseStamped data to setpoint_raw/attitude or setpoint_attitude/attitude, I do not see any response from SITL_IRIS drone. px4 firmware gives this as output:

WARN  [commander_tests] Failsafe enabled: no RC
WARN  [mc_pos_control] Auto activation failed with error: Activation Failed
WARN  [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Stabilized-Ctrl failed with error: Activation Failed
WARN  [mc_pos_control] Auto activation failed with error: Activation Failed
WARN  [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Stabilized-Ctrl failed with error: Activation Failed
WARN  [mc_pos_control] Auto activation failed with error: Activation Failed
WARN  [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Stabilized-Ctrl failed with error: Activation Failed
WARN  [mc_pos_control] Auto activation failed with error: Activation Failed
WARN  [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Stabilized-Ctrl failed with error: Activation Failed
WARN  [mc_pos_control] Auto activation failed with error: Activation Failed
WARN  [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Stabilized-Ctrl failed with error: Activation Failed
WARN  [mc_pos_control] Auto activation failed with error: Activation Failed
WARN  [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed
WARN  [mc_pos_control] Stabilized-Ctrl failed with error: Activation Failed
INFO  [logger] closed logfile, bytes written: 12014258

ROS-Node publishing data to FCU for attitude as roll=0, ptich = 0, yaw =0, thrust = 0.6
I am atleast hoping to see some take off response in the vehicle. I might have write write a PID controller for altitude hold indoors. But in this case, i believe with setpoint for thrust, drone should atleast takeoff.

Thank you in advance.

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