[Bug] QGC not connecting to custom drone URDF

[crazy-robotics]

Describe the bug

I am trying to simulate my custom urdf drone I follow this discussion and make my custom drone. I compiled it make px4_sitl_default gazebo-classic_my_custom_urdf link and launch from mavros roslaunch px4 mavros_posix_sitl.launch the drone spawn successfully in gazebo but QGC is not connecting both by buidling and linking to mavros . I check mavlink plugin which is exactly from iris model and on rostopic echo /mavros/state it always show false.Here is the plugin of my .sdf file

<plugin name='rosbag' filename='libgazebo_multirotor_base_plugin.so'>
      <robotNamespace/>
      <linkName>base_link</linkName>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace/>
      <jointName>m1_joint</jointName>
      <linkName>m1</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100</maxRotVelocity>
      <motorConstant>5.84e-06</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>0</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace/>
      <jointName>m2_joint</jointName>
      <linkName>m2</linkName>
      <turningDirection>ccw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100</maxRotVelocity>
      <motorConstant>5.84e-06</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>1</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace/>
      <jointName>m3_joint</jointName>
      <linkName>m3</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100</maxRotVelocity>
      <motorConstant>5.84e-06</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>2</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/2</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'>
      <robotNamespace/>
      <jointName>m4_joint</jointName>
      <linkName>m4</linkName>
      <turningDirection>cw</turningDirection>
      <timeConstantUp>0.0125</timeConstantUp>
      <timeConstantDown>0.025</timeConstantDown>
      <maxRotVelocity>1100</maxRotVelocity>
      <motorConstant>5.84e-06</motorConstant>
      <momentConstant>0.06</momentConstant>
      <commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
      <motorNumber>3</motorNumber>
      <rotorDragCoefficient>0.000175</rotorDragCoefficient>
      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
      <motorSpeedPubTopic>/motor_speed/3</motorSpeedPubTopic>
      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
    </plugin>
    <!-- <include>
      <uri>model://gps</uri>
      <pose>0.05 0 0.04 0 0 0</pose>
      <name>gps0</name>
    </include>
    <joint name='gps0_joint' type='fixed'>
      <child>gps0::link</child>
      <parent>base_link</parent>
    </joint> -->
    <plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
      <robotNamespace/>
    </plugin>
    <plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
      <robotNamespace/>
      <pubRate>100</pubRate>
      <noiseDensity>0.0004</noiseDensity>
      <randomWalk>6.4e-06</randomWalk>
      <biasCorrelationTime>600</biasCorrelationTime>
      <magTopic>/mag</magTopic>
    </plugin>
    <plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
      <robotNamespace/>
      <pubRate>50</pubRate>
      <baroTopic>/baro</baroTopic>
      <baroDriftPaPerSec>0</baroDriftPaPerSec>
    </plugin>
    <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
      <robotNamespace/>
      <imuSubTopic>/imu</imuSubTopic>
      <magSubTopic>/mag</magSubTopic>
      <baroSubTopic>/baro</baroSubTopic>
      <mavlink_addr>INADDR_ANY</mavlink_addr>
      <mavlink_tcp_port>4560</mavlink_tcp_port>
      <mavlink_udp_port>14560</mavlink_udp_port>
      <serialEnabled>0</serialEnabled>
      <serialDevice>/dev/ttyACM0</serialDevice>
      <baudRate>921600</baudRate>
      <qgc_addr>INADDR_ANY</qgc_addr>
      <qgc_udp_port>14550</qgc_udp_port>
      <sdk_addr>INADDR_ANY</sdk_addr>
      <sdk_udp_port>14540</sdk_udp_port>
      <hil_mode>0</hil_mode>
      <hil_state_level>0</hil_state_level>
      <send_vision_estimation>0</send_vision_estimation>
      <send_odometry>1</send_odometry>
      <enable_lockstep>1</enable_lockstep>
      <use_tcp>1</use_tcp>
      <motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
      <control_channels>
        <channel name='rotor1'>
          <input_index>0</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1000</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>100</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
        </channel>
        <channel name='rotor2'>
          <input_index>1</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1000</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>100</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
        </channel>
        <channel name='rotor3'>
          <input_index>2</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1000</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>100</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
        </channel>
        <channel name='rotor4'>
          <input_index>3</input_index>
          <input_offset>0</input_offset>
          <input_scaling>1000</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>100</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
        </channel>
        <channel name='rotor5'>
          <input_index>4</input_index>
          <input_offset>1</input_offset>
          <input_scaling>324.6</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>velocity</joint_control_type>
          <joint_control_pid>
            <p>0.1</p>
            <i>0</i>
            <d>0</d>
            <iMax>0.0</iMax>
            <iMin>0.0</iMin>
            <cmdMax>2</cmdMax>
            <cmdMin>-2</cmdMin>
          </joint_control_pid>
          <joint_name>zephyr_delta_wing::propeller_joint</joint_name>
        </channel>
        <channel name='rotor6'>
          <input_index>5</input_index>
          <input_offset>0</input_offset>
          <input_scaling>0.524</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position</joint_control_type>
          <joint_name>zephyr_delta_wing::flap_left_joint</joint_name>
          <joint_control_pid>
            <p>10.0</p>
            <i>0</i>
            <d>0</d>
            <iMax>0</iMax>
            <iMin>0</iMin>
            <cmdMax>20</cmdMax>
            <cmdMin>-20</cmdMin>
          </joint_control_pid>
        </channel>
        <channel name='rotor7'>
          <input_index>6</input_index>
          <input_offset>0</input_offset>
          <input_scaling>0.524</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position</joint_control_type>
          <joint_name>zephyr_delta_wing::flap_right_joint</joint_name>
          <joint_control_pid>
            <p>10.0</p>
            <i>0</i>
            <d>0</d>
            <iMax>0</iMax>
            <iMin>0</iMin>
            <cmdMax>20</cmdMax>
            <cmdMin>-20</cmdMin>
          </joint_control_pid>
        </channel>
        <channel name='rotor8'>
          <input_index>7</input_index>
          <input_offset>0</input_offset>
          <input_scaling>0.524</input_scaling>
          <zero_position_disarmed>0</zero_position_disarmed>
          <zero_position_armed>0</zero_position_armed>
          <joint_control_type>position</joint_control_type>
        </channel>
      </control_channels>
    </plugin>
    <static>0</static>
    <plugin name='rotors_gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
      <robotNamespace/>
      <linkName>/imu_link</linkName>
      <imuTopic>/imu</imuTopic>
      <gyroscopeNoiseDensity>0.00018665</gyroscopeNoiseDensity>
      <gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
      <gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
      <gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
      <accelerometerNoiseDensity>0.00186</accelerometerNoiseDensity>
      <accelerometerRandomWalk>0.006</accelerometerRandomWalk>
      <accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
      <accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
    </plugin>

To Reproduce

To test my offboard code on custom drone

Expected behavior

QGC is not connecting automatically and also by adding com link @ lcoalhost:14550

Screenshot / Media

Flight Log

No response

Software Version

QGC v4.4.3
Gazebo-Classic v11.15.1
PX4 V1.15

Flight controller

SITL

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response

[mrpollo]

Try mavlink-router connected to PX4, and MAVROS + Gazebo to the mavlink-router

https://github.com/mavlink-router/mavlink-router