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When you launch the spawn_quadrotor.launch, did you pass him the arg about the quadrotor_sensors ?

The behaviour you describe suggest the drone controller doesn't have any information about the altitude of the drone. This information is suppose to be given by the /sonar_height topic which should be describe in the quadrotor_sensors.urdf.xacro file.

Launching "spawn_quadrotor.launch" without argument make him use the default value for model in which the sonar_height isn't describe.

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