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That depends on how you setup connection. If using SYS_COMPANION parameter then you should request servo topics.

Place extras.txt on your SD card to etc folder (full path: /fs/microsd/etc/extras.txt):

#!nsh
# additional streams for SYS_COMPANION
mavlink stream -d /dev/ttyS2 -s SERVO_OUTPUT_RAW_0 -r 20

Also here example how to autostart ros on rpi2: https://github.com/vooon/rarog/tree/master/rarog_configs/rpi2

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