Please make sure to use the latest px4_ros_com, px4_msgs and PX4-Firmware. Also another note: you are using a low baud rate for the bandwidth being occupied and streams being used - please check this PR comment for more details (the documentation is being rewritten to cover this). So you rather reduce the number of topics on the stream, add a delay using the -w option (this though propagates some latency on the link) or you increase the baud rate (together maybe with flow control, but you need to make sure that the flow control is activated on both sides of the link).
