Some issues on SITL data comunication between mavros and px4

I want to develop a SITL with coppeliaSim.
I use coppeliaSim as simulator, mavros as the data bridge.
First, I run: make px4_sitl_default none_iris
Second, I run: roslaunch mavros px4.launch fcu_url:=“tcp-l://:4560”
Then, rosrun a node to publish data.
Currently, I’ve packed the sensor data and gps data, and published them to topic hil/gps and hil/imu_ned. But, the mavros can’t publish any control signal. I wonder is there any steps I missed.