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

ROS / MAVROS / MicroDDS
1

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!

2

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

3

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

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