Raspberry 4-cube orange-not take off in guided mode

i everyone, I started building an hexacopter (flame f550) using a raspberry 4 and the orange cube with optical flow and a leddar One. I have installed mavros. I’m trying to get the raspberry to communicate with the cube. I can see the topics and read what they publish. But I have these problems:

At the beginning i couldn 't see the eco of the topics so i use this line “rosservice call /mavros/set_stream_rate 0 10 1”( is it correct?) but i can’t see the eco of local_position/pose. Do you know why or how i could solve this problem? my second problem is that the copter could not take off. I switched the mode in guided and arm the copter then I tried to publish a velocity with “mavros/setpoint_velocity/cmd_vel_unstamped” but the copter didn’t listen to me. So i tried to use “mavros/setpoint_position/local” but nothing. i think that for now i can’t use setpoint_position because i don’t have an echo from local position. My question is : what am I doing wrong? I attached mavros diagnostic, checkid and my simple code ( here i used mavros/setpoint_velocity/cmd_vel_unstamped) . if you need i can attached the ardupilot parameters.

MAVROS version and platform

Mavros: 1.5 ROS: Kinetic Ubuntu: 16.04

Autopilot type and version

[ x ] ArduPilot [ ] PX4

Diagnostics

header: seq: 3225 stamp: secs: 1455211327 nsecs: 788299841 frame_id: '' status:

level: 2
name: "joy_node: Joystick Driver Status"
message: "Joystick not open."
hardware_id: "none"
values:
  -
    key: "topic"
    value: "/joy"
  -
    key: "device"
    value: "/dev/input/js0"
  -
    key: "device name"
    value: ''
  -
    key: "dead zone"
    value: "0.05"
  -
    key: "autorepeat rate (Hz)"
    value: "20"
  -
    key: "coalesce interval (s)"
    value: "0.001"
  -
    key: "recent joystick event rate (Hz)"
    value: "0"
  -
    key: "recent publication rate (Hz)"
    value: "0"
  -
    key: "subscribers"
    value: "1"
  -
    key: "default trig val"
    value: "False"
  -
    key: "sticky buttons"
    value: "False"

header: seq: 602 stamp: secs: 1455211328 nsecs: 486817841 frame_id: '' status:

level: 0
name: "mavros: FCU connection"
message: "connected"
hardware_id: "/dev/serial0:921600"
values:
  -
    key: "Received packets:"
    value: "17413"
  -
    key: "Dropped packets:"
    value: "0"
  -
    key: "Buffer overruns:"
    value: "0"
  -
    key: "Parse errors:"
    value: "0"
  -
    key: "Rx sequence number:"
    value: "184"
  -
    key: "Tx sequence number:"
    value: "0"
  -
    key: "Rx total bytes:"
    value: "8068998"
  -
    key: "Tx total bytes:"
    value: "646410"
  -
    key: "Rx speed:"
    value: "24643.000000"
  -
    key: "Tx speed:"
    value: "2494.000000"

- level: 0 name: "mavros: GPS" message: "3D fix" hardware_id: "/dev/serial0:921600" values:

    key: "Satellites visible"
    value: "13"
  -
    key: "Fix type"
    value: "3"
  -
    key: "EPH (m)"
    value: "0.80"
  -
    key: "EPV (m)"
    value: "1.30"

- level: 0 name: "mavros: Heartbeat" message: "Normal" hardware_id: "/dev/serial0:921600" values:

    key: "Heartbeats since startup"
    value: "881"
  -
    key: "Frequency (Hz)"
    value: "1.000000"
  -
    key: "Vehicle type"
    value: "Hexarotor"
  -
    key: "Autopilot type"
    value: "ArduPilot"
  -
    key: "Mode"
    value: "GUIDED"
  -
    key: "System status"
    value: "Standby"

- level: 0 name: "mavros: System" message: "Normal" hardware_id: "/dev/serial0:921600" values:

    key: "Sensor present"
    value: "0x0360FD6F"
  -
    key: "Sensor enabled"
    value: "0x0060FD6F"
  -
    key: "Sensor health"
    value: "0x0170FD6F"
  -
    key: "3D gyro"
    value: "Ok"
  -
    key: "3D accelerometer"
    value: "Ok"
  -
    key: "3D magnetometer"
    value: "Ok"
  -
    key: "absolute pressure"
    value: "Ok"
  -
    key: "GPS"
    value: "Ok"
  -
    key: "optical flow"
    value: "Ok"
  -
    key: "laser based position"
    value: "Ok"
  -
    key: "3D angular rate control"
    value: "Ok"
  -
    key: "attitude stabilization"
    value: "Ok"
  -
    key: "yaw position"
    value: "Ok"
  -
    key: "z/altitude control"
    value: "Ok"
  -
    key: "x/y position control"
    value: "Ok"
  -
    key: "motor outputs / control"
    value: "Ok"
  -
    key: "AHRS subsystem health"
    value: "Ok"
  -
    key: "Terrain subsystem health"
    value: "Ok"
  -
    key: "CPU Load (%)"
    value: "17.6"
  -
    key: "Drop rate (%)"
    value: "0.0"
  -
    key: "Errors comm"
    value: "0"
  -
    key: "Errors count #1"
    value: "0"
  -
    key: "Errors count #2"
    value: "0"
  -
    key: "Errors count #3"
    value: "0"
  -
    key: "Errors count #4"
    value: "0"

- level: 1 name: "mavros: Battery" message: "Low voltage" hardware_id: "/dev/serial0:921600" values:

    key: "Voltage"
    value: "0.00"
  -
    key: "Current"
    value: "-0.0"
  -
    key: "Remaining"
    value: "-1.0"

- level: 0 name: "mavros: Time Sync" message: "Normal" hardware_id: "/dev/serial0:921600" values:

    key: "Timesyncs since startup"
    value: "14351"

    key: "Frequency (Hz)"
    value: "8.066667"
  -
    key: "Last RTT (ms)"
    value: "13.483537"
  -
    key: "Mean RTT (ms)"
    value: "-5886242.704627"
  -
    key: "Last remote time (s)"
    value: "955.786732000"
  -
    key: "Estimated time offset (s)"
    value: "1455210372.612966299"

Check ID

Received 7951 messages, from 2 addresses sys:comp list of messages 1:0 0 1:1 0, 129, 2, 132, 193, 136, 137, 152, 150, 24, 27, 29, 30, 33, 35, 1, 165, 42, 173, 178, 182, 62, 65, 74, 77, 163, 36, 100, 111, 241, 116, 125

drone_velocita_takeoffland_LEDDAR.txt

mavlink / mavros