When running "rosrun mavros mavsys mode -c OFFBOARD" warns "Timed out!" and cannot enter offboard mode

Warning message: “[ WARN] [1675481073.854217856]: CMD: Unexpected command 176, result 1”
which seems rare because common problems are “result 0”. Anyone knows how to solve? Thanks in advance!

u need to publish the cmd position first before switching to offboard, and the position lock is required prior as well

Actually I published the velocity setpoints before switching, my operations are in the image, is there a velocity lock or something? Thanks!