Mavros with jetson xavier serial port is not working for CUAVv5+ but same hardware and software setup works for pixhawk 4

[21coolkarni]

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Mavlink mavros not connecting on serial port on jetson xavier

I have a CUAVv5+ flight controller and I am trying to connect it to mavros but I am only getting all the data from the flight controlller like state and sensor msgs, there is no hardware issue same hardware and setup works completely fine for Pixhawk-4

MAVROS version and platform

Mavros: 2.4.0
ROS: foxy
Ubuntu: 20.04

Autopilot type and version

[ * ] ArduPilot
[ ] PX4

Version: 4.4.4

[INFO] [launch]: All log files can be found below /home/ayaan/.ros/log/2024-01-05-19-10-05-031388-ubuntu-3397
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [mavros_node-1]: process started with pid [3399]
[mavros_node-1] [INFO] [1704462005.486896088] [mavros.mavros_node]: Starting mavros_node container
[mavros_node-1] [INFO] [1704462005.487157656] [mavros.mavros_node]: FCU URL: /dev/ttyTHS0:57600
[mavros_node-1] [INFO] [1704462005.487207256] [mavros.mavros_node]: GCS URL:
[mavros_node-1] [INFO] [1704462005.487268984] [mavros.mavros_node]: UAS Prefix: /uas1
[mavros_node-1] [INFO] [1704462005.487572504] [mavros.mavros_node]: Starting mavros router node
[mavros_node-1] [INFO] [1704462005.498669944] [mavros.mavros_router]: Built-in SIMD instructions: ARM NEON
[mavros_node-1] [INFO] [1704462005.498795384] [mavros.mavros_router]: Built-in MAVLink package version: 2022.12.30
[mavros_node-1] [INFO] [1704462005.498845464] [mavros.mavros_router]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-1] [INFO] [1704462005.498893528] [mavros.mavros_router]: MAVROS Router started
[mavros_node-1] [INFO] [1704462005.498999512] [mavros.mavros_router]: Requested to add endpoint: type: 0, url: /dev/ttyTHS0:57600
[mavros_node-1] [INFO] [1704462005.499105944] [mavros.mavros_router]: Endpoint link[1000] created
[mavros_node-1] [INFO] [1704462005.500054648] [mavros.mavros_router]: link[1000] opened successfully
[mavros_node-1] [INFO] [1704462005.500210232] [mavros.mavros_router]: Requested to add endpoint: type: 2, url: /uas1
[mavros_node-1] [INFO] [1704462005.500293048] [mavros.mavros_router]: Endpoint link[1001] created
[mavros_node-1] [INFO] [1704462005.500392472] [mavros.mavros_router]: link[1000] detected remote address 1.1
[mavros_node-1] [INFO] [1704462005.501646168] [mavros.mavros_router]: link[1001] opened successfully
[mavros_node-1] [INFO] [1704462005.501821208] [mavros.mavros_node]: Starting mavros uas node
[mavros_node-1] [INFO] [1704462005.607619160] [mavros.mavros]: UAS Executor started, threads: 4
[mavros_node-1] [INFO] [1704462005.642918360] [mavros.mavros]: Plugin actuator_control created
[mavros_node-1] [INFO] [1704462005.643103064] [mavros.mavros]: Plugin actuator_control initialized
[mavros_node-1] [INFO] [1704462005.678608920] [mavros.mavros]: Plugin adsb created
[mavros_node-1] [INFO] [1704462005.678811448] [mavros.mavros]: Plugin adsb initialized
[mavros_node-1] [INFO] [1704462005.688677496] [mavros.mavros]: Plugin altitude created
[mavros_node-1] [INFO] [1704462005.688863192] [mavros.mavros]: Plugin altitude initialized
[mavros_node-1] [INFO] [1704462005.699267704] [mavros.mavros]: Plugin cam_imu_sync created
[mavros_node-1] [INFO] [1704462005.699434168] [mavros.mavros]: Plugin cam_imu_sync initialized
[mavros_node-1] [INFO] [1704462005.710599864] [mavros.mavros]: Plugin camera created
[mavros_node-1] [INFO] [1704462005.710773464] [mavros.mavros]: Plugin camera initialized
[mavros_node-1] [INFO] [1704462005.721860312] [mavros.mavros]: Plugin cellular_status created
[mavros_node-1] [INFO] [1704462005.722000664] [mavros.mavros]: Plugin cellular_status initialized
[mavros_node-1] [INFO] [1704462005.739578712] [mavros.mavros]: Plugin command created
[mavros_node-1] [INFO] [1704462005.739745016] [mavros.mavros]: Plugin command initialized
[mavros_node-1] [INFO] [1704462005.753654488] [mavros.mavros]: Plugin companion_process_status created
[mavros_node-1] [INFO] [1704462005.753828504] [mavros.mavros]: Plugin companion_process_status initialized
[mavros_node-1] [INFO] [1704462005.768624760] [mavros.mavros]: Plugin debug_value created
[mavros_node-1] [INFO] [1704462005.768863512] [mavros.mavros]: Plugin debug_value initialized
[mavros_node-1] [INFO] [1704462005.781956888] [mavros.distance_sensor]: DS: Plugin not configured!
[mavros_node-1] [INFO] [1704462005.782422968] [mavros.mavros]: Plugin distance_sensor created
[mavros_node-1] [INFO] [1704462005.782845944] [mavros.mavros]: Plugin distance_sensor initialized
[mavros_node-1] [INFO] [1704462005.797528344] [mavros.mavros]: Plugin esc_status created
[mavros_node-1] [INFO] [1704462005.797715992] [mavros.mavros]: Plugin esc_status initialized
[mavros_node-1] [INFO] [1704462005.811288056] [mavros.mavros]: Plugin esc_telemetry created
[mavros_node-1] [INFO] [1704462005.811484024] [mavros.mavros]: Plugin esc_telemetry initialized
[mavros_node-1] [INFO] [1704462005.834644824] [mavros.mavros]: Plugin fake_gps created
[mavros_node-1] [INFO] [1704462005.834784504] [mavros.mavros]: Plugin fake_gps initialized
[mavros_node-1] [INFO] [1704462005.862290264] [mavros.mavros]: Plugin ftp created
[mavros_node-1] [INFO] [1704462005.862464760] [mavros.mavros]: Plugin ftp initialized
[mavros_node-1] [INFO] [1704462005.883732472] [mavros.mavros]: Plugin geofence created
[mavros_node-1] [INFO] [1704462005.883970072] [mavros.mavros]: Plugin geofence initialized
[mavros_node-1] [INFO] [1704462005.911845912] [mavros.mavros]: Plugin global_position created
[mavros_node-1] [INFO] [1704462005.912063672] [mavros.mavros]: Plugin global_position initialized
[mavros_node-1] [INFO] [1704462005.929678936] [mavros.mavros]: Plugin gps_input created
[mavros_node-1] [INFO] [1704462005.929882392] [mavros.mavros]: Plugin gps_input initialized
[mavros_node-1] [INFO] [1704462005.947871000] [mavros.mavros]: Plugin gps_rtk created
[mavros_node-1] [INFO] [1704462005.948074168] [mavros.mavros]: Plugin gps_rtk initialized
[mavros_node-1] [INFO] [1704462005.967138360] [mavros.mavros]: Plugin gps_status created
[mavros_node-1] [INFO] [1704462005.967367352] [mavros.mavros]: Plugin gps_status initialized
[mavros_node-1] [INFO] [1704462005.987311640] [mavros.mavros]: Plugin guided_target created
[mavros_node-1] [INFO] [1704462005.987545816] [mavros.mavros]: Plugin guided_target initialized
[mavros_node-1] [INFO] [1704462006.011822584] [mavros.mavros]: Plugin hil created
[mavros_node-1] [INFO] [1704462006.012031224] [mavros.mavros]: Plugin hil initialized
[mavros_node-1] [INFO] [1704462006.033873816] [mavros.mavros]: Plugin home_position created
[mavros_node-1] [INFO] [1704462006.034063736] [mavros.mavros]: Plugin home_position initialized
[mavros_node-1] [INFO] [1704462006.061926648] [mavros.mavros]: Plugin imu created
[mavros_node-1] [INFO] [1704462006.062196824] [mavros.mavros]: Plugin imu initialized
[mavros_node-1] [INFO] [1704462006.091190040] [mavros.mavros]: Plugin landing_target created
[mavros_node-1] [INFO] [1704462006.091360024] [mavros.mavros]: Plugin landing_target initialized
[mavros_node-1] [INFO] [1704462006.119020728] [mavros.mavros]: Plugin local_position created
[mavros_node-1] [INFO] [1704462006.119218648] [mavros.mavros]: Plugin local_position initialized
[mavros_node-1] [INFO] [1704462006.147340536] [mavros.mavros]: Plugin log_transfer created
[mavros_node-1] [INFO] [1704462006.147544920] [mavros.mavros]: Plugin log_transfer initialized
[mavros_node-1] [INFO] [1704462006.171301880] [mavros.mavros]: Plugin mag_calibration_status created
[mavros_node-1] [INFO] [1704462006.171522136] [mavros.mavros]: Plugin mag_calibration_status initialized
[mavros_node-1] [INFO] [1704462006.195287448] [mavros.mavros]: Plugin manual_control created
[mavros_node-1] [INFO] [1704462006.195474936] [mavros.mavros]: Plugin manual_control initialized
[mavros_node-1] [INFO] [1704462006.219255160] [mavros.mavros]: Plugin mocap_pose_estimate created
[mavros_node-1] [INFO] [1704462006.219445752] [mavros.mavros]: Plugin mocap_pose_estimate initialized
[mavros_node-1] [INFO] [1704462006.249923000] [mavros.mavros]: Plugin mount_control created
[mavros_node-1] [INFO] [1704462006.250150168] [mavros.mavros]: Plugin mount_control initialized
[mavros_node-1] [INFO] [1704462006.276033048] [mavros.mavros]: Plugin nav_controller_output created
[mavros_node-1] [INFO] [1704462006.276236088] [mavros.mavros]: Plugin nav_controller_output initialized
[mavros_node-1] [INFO] [1704462006.302528728] [mavros.mavros]: Plugin obstacle_distance created
[mavros_node-1] [INFO] [1704462006.302704568] [mavros.mavros]: Plugin obstacle_distance initialized
[mavros_node-1] [INFO] [1704462006.331342264] [mavros.mavros]: Plugin odometry created
[mavros_node-1] [INFO] [1704462006.331534424] [mavros.mavros]: Plugin odometry initialized
[mavros_node-1] [INFO] [1704462006.358323512] [mavros.mavros]: Plugin onboard_computer_status created
[mavros_node-1] [INFO] [1704462006.358505368] [mavros.mavros]: Plugin onboard_computer_status initialized
[mavros_node-1] [INFO] [1704462006.389335704] [mavros.mavros]: Plugin param created
[mavros_node-1] [INFO] [1704462006.389625432] [mavros.mavros]: Plugin param initialized
[mavros_node-1] [INFO] [1704462006.418704760] [mavros.mavros]: Plugin play_tune created
[mavros_node-1] [INFO] [1704462006.418908248] [mavros.mavros]: Plugin play_tune initialized
[mavros_node-1] [INFO] [1704462006.453613912] [mavros.mavros]: Plugin px4flow created
[mavros_node-1] [INFO] [1704462006.453846264] [mavros.mavros]: Plugin px4flow initialized
[mavros_node-1] [INFO] [1704462006.491185752] [mavros.mavros]: Plugin rallypoint created
[mavros_node-1] [INFO] [1704462006.491485112] [mavros.mavros]: Plugin rallypoint initialized
[mavros_node-1] [INFO] [1704462006.523639000] [mavros.mavros]: Plugin rangefinder created
[mavros_node-1] [INFO] [1704462006.523861048] [mavros.mavros]: Plugin rangefinder initialized
[mavros_node-1] [INFO] [1704462006.556625976] [mavros.mavros]: Plugin rc_io created
[mavros_node-1] [INFO] [1704462006.556864792] [mavros.mavros]: Plugin rc_io initialized
[mavros_node-1] [INFO] [1704462006.589612600] [mavros.mavros]: Plugin setpoint_accel created
[mavros_node-1] [INFO] [1704462006.589784472] [mavros.mavros]: Plugin setpoint_accel initialized
[mavros_node-1] [INFO] [1704462006.624893720] [mavros.mavros]: Plugin setpoint_attitude created
[mavros_node-1] [INFO] [1704462006.625074808] [mavros.mavros]: Plugin setpoint_attitude initialized
[mavros_node-1] [INFO] [1704462006.664108312] [mavros.mavros]: Plugin setpoint_position created
[mavros_node-1] [INFO] [1704462006.664425848] [mavros.mavros]: Plugin setpoint_position initialized
[mavros_node-1] [INFO] [1704462006.706976824] [mavros.mavros]: Plugin setpoint_raw created
[mavros_node-1] [INFO] [1704462006.707234424] [mavros.mavros]: Plugin setpoint_raw initialized
[mavros_node-1] [INFO] [1704462006.748754296] [mavros.mavros]: Plugin setpoint_trajectory created
[mavros_node-1] [INFO] [1704462006.748975000] [mavros.mavros]: Plugin setpoint_trajectory initialized
[mavros_node-1] [INFO] [1704462006.787424824] [mavros.mavros]: Plugin setpoint_velocity created
[mavros_node-1] [INFO] [1704462006.787619896] [mavros.mavros]: Plugin setpoint_velocity initialized
[mavros_node-1] [INFO] [1704462006.846993176] [mavros.mavros]: Plugin sys_status created
[mavros_node-1] [INFO] [1704462006.847285208] [mavros.mavros]: Plugin sys_status initialized
[mavros_node-1] [INFO] [1704462006.886006840] [mavros.time]: TM: Timesync mode: MAVLINK
[mavros_node-1] [INFO] [1704462006.899002904] [mavros.mavros]: Plugin sys_time created
[mavros_node-1] [INFO] [1704462006.901040120] [mavros.mavros]: Plugin sys_time initialized
[mavros_node-1] [INFO] [1704462006.945631576] [mavros.mavros]: Plugin tdr_radio created
[mavros_node-1] [INFO] [1704462006.945878904] [mavros.mavros]: Plugin tdr_radio initialized
[mavros_node-1] [INFO] [1704462006.987223288] [mavros.mavros]: Plugin terrain created
[mavros_node-1] [INFO] [1704462006.987443384] [mavros.mavros]: Plugin terrain initialized
[mavros_node-1] [INFO] [1704462007.032566264] [mavros.mavros]: Plugin trajectory created
[mavros_node-1] [INFO] [1704462007.032820152] [mavros.mavros]: Plugin trajectory initialized
[mavros_node-1] [INFO] [1704462007.077599928] [mavros.mavros]: Plugin tunnel created
[mavros_node-1] [INFO] [1704462007.077837944] [mavros.mavros]: Plugin tunnel initialized
[mavros_node-1] [INFO] [1704462007.119904344] [mavros.mavros]: Plugin vfr_hud created
[mavros_node-1] [INFO] [1704462007.120121624] [mavros.mavros]: Plugin vfr_hud initialized
[mavros_node-1] [INFO] [1704462007.163581272] [mavros.mavros]: Plugin vibration created
[mavros_node-1] [INFO] [1704462007.163875896] [mavros.mavros]: Plugin vibration initialized
[mavros_node-1] [INFO] [1704462007.213292568] [mavros.mavros]: Plugin vision_pose created
[mavros_node-1] [INFO] [1704462007.213554968] [mavros.mavros]: Plugin vision_pose initialized
[mavros_node-1] [INFO] [1704462007.265034424] [mavros.mavros]: Plugin vision_speed created
[mavros_node-1] [INFO] [1704462007.265262520] [mavros.mavros]: Plugin vision_speed initialized
[mavros_node-1] [INFO] [1704462007.325305944] [mavros.mavros]: Plugin waypoint created
[mavros_node-1] [INFO] [1704462007.325750552] [mavros.mavros]: Plugin waypoint initialized
[mavros_node-1] [INFO] [1704462007.388594648] [mavros.mavros]: Plugin wheel_odomotry created
[mavros_node-1] [INFO] [1704462007.388817784] [mavros.mavros]: Plugin wheel_odomotry initialized
[mavros_node-1] [INFO] [1704462007.439401912] [mavros.mavros]: Plugin wind_estimation created
[mavros_node-1] [INFO] [1704462007.439657464] [mavros.mavros]: Plugin wind_estimation initialized
[mavros_node-1] [INFO] [1704462007.444226616] [mavros.mavros]: Built-in SIMD instructions: ARM NEON
[mavros_node-1] [INFO] [1704462007.444378520] [mavros.mavros]: Built-in MAVLink package version: 2022.12.30
[mavros_node-1] [INFO] [1704462007.444424856] [mavros.mavros]: Known MAVLink dialects: common ardupilotmega ASLUAV AVSSUAS all cubepilot development icarous matrixpilot paparazzi standard storm32 uAvionix ualberta
[mavros_node-1] [INFO] [1704462007.444465976] [mavros.mavros]: MAVROS UAS via /uas1 started. MY ID 1.191, TARGET ID 1.1
[mavros_node-1] [INFO] [1704462007.829033944] [mavros.mavros_router]: link[1001] detected remote address 1.191
[mavros_node-1] [INFO] [1704462008.382587800] [mavros.mavros]: CON: Got HEARTBEAT, connected. FCU: ArduPilot
[mavros_node-1] [INFO] [1704462008.383788536] [mavros.mission]: WP: detected enable_partial_push: 1
[mavros_node-1] [WARN] [1704462010.405987608] [mavros.sys]: VER: broadcast request timeout, retries left 4
[mavros_node-1] [WARN] [1704462011.410551064] [mavros.sys]: VER: broadcast request timeout, retries left 3
[mavros_node-1] [ERROR] [1704462013.392307928] [mavros.sys]: VER: autopilot version service timeout
[mavros_node-1] [ERROR] [1704462013.393409880] [mavros.sys]: VER: command plugin service call failed!
[mavros_node-1] [WARN] [1704462013.394136344] [mavros.sys]: VER: unicast request timeout, retries left 2
[mavros_node-1] [ERROR] [1704462014.435277144] [mavros.sys]: VER: autopilot version service timeout
[mavros_node-1] [ERROR] [1704462014.436273528] [mavros.sys]: VER: command plugin service call failed!
[mavros_node-1] [WARN] [1704462014.436472504] [mavros.sys]: VER: unicast request timeout, retries left 1
[mavros_node-1] [ERROR] [1704462015.466981976] [mavros.sys]: VER: autopilot version service timeout
[mavros_node-1] [ERROR] [1704462015.468859736] [mavros.sys]: VER: command plugin service call failed!
[mavros_node-1] [WARN] [1704462015.469202456] [mavros.sys]: VER: unicast request timeout, retries left 0
[mavros_node-1] [ERROR] [1704462016.495701048] [mavros.sys]: VER: autopilot version service timeout
[mavros_node-1] [ERROR] [1704462016.496734168] [mavros.sys]: VER: command plugin service call failed!
[mavros_node-1] [WARN] [1704462016.497014936] [mavros.sys]: VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities
[mavros_node-1] [WARN] [1704462017.394345816] [mavros.cmd]: CMD: Command 520 -- ack timeout
[mavros_node-1] [INFO] [1704462018.383935416] [mavros.home_position]: HP: requesting home position
[mavros_node-1] [WARN] [1704462019.385693880] [mavros.param]: PR: request list timeout, retries left 2
[mavros_node-1] [WARN] [1704462020.387257368] [mavros.param]: PR: request list timeout, retries left 1
[mavros_node-1] [WARN] [1704462021.388756984] [mavros.param]: PR: request list timeout, retries left 0
[mavros_node-1] [WARN] [1704462022.398255928] [mavros.cmd]: CMD: Command 520 -- ack timeout
[mavros_node-1] [WARN] [1704462024.384751576] [mavros.mission]: WP: timeout, retries left 2
[mavros_node-1] [WARN] [1704462025.392031384] [mavros.mission]: WP: timeout, retries left 1
[mavros_node-1] [WARN] [1704462026.393359256] [mavros.mission]: WP: timeout, retries left 0
[mavros_node-1] [ERROR] [1704462027.395008888] [mavros.mission]: WP: timed out.
[mavros_node-1] [WARN] [1704462027.401335160] [mavros.cmd]: CMD: Command 520 -- ack timeout
[mavros_node-1] [WARN] [1704462029.384812344] [mavros.rallypoint]: RP: timeout, retries left 2
[mavros_node-1] [WARN] [1704462030.388001784] [mavros.rallypoint]: RP: timeout, retries left 1
[mavros_node-1] [WARN] [1704462031.389296056] [mavros.rallypoint]: RP: timeout, retries left 0
[mavros_node-1] [ERROR] [1704462032.391826008] [mavros.rallypoint]: RP: timed out.
[mavros_node-1] [WARN] [1704462032.404046776] [mavros.cmd]: CMD: Command 520 -- ack timeout
[mavros_node-1] [WARN] [1704462034.384582296] [mavros.geofence]: GF: timeout, retries left 2
[mavros_node-1] [WARN] [1704462035.386559192] [mavros.geofence]: GF: timeout, retries left 1
[mavros_node-1] [WARN] [1704462036.388567128] [mavros.geofence]: GF: timeout, retries left 0
[mavros_node-1] [ERROR] [1704462037.391453752] [mavros.geofence]: GF: timed out.
[mavros_node-1] [WARN] [1704462037.407123608] [mavros.cmd]: CMD: Command 410 -- ack timeout