Vertical takeoff with mavros fails with horizontal displacement?

Hi guys,

I am trying to use mavros to takeoff a quad, and the specific steps I followed were:

  1. guide and arm the quad;
  2. send poseStamped of value 0,0,2 to mavros/local_position/pose;

It works perfectly in my gazebo simulator but it fails with horizontal displacement when taking off during field test, to be more specific, when it took off, it would fly 1 or 2 meters away from its starting point horizontally before it hovers around at height 2 meters.

Is there anything I am doing wrong? Any help would be appreciated!

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We are having the similar problem.
Did you find any solutions?