Mavros Control of the PX4 Pixhawk

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I have a Pixhawk running the PX4 stack firmware. I am trying to control the pixhawk through velocity commands. I have a lidar lite for altitude, px4 flow sensor, and a stereo camera. I am using the camera, along with some imaging processing in ROS to generate velocity commands to send to the pixhawk.

Ever since I changed from apm to px4 I cannot seem to get the lidar data to come through (params are set correctly in QGC) and the pixhawk will not react to velocity vectors from mavros/setpoint_velocity/cmd_vel. I have RVIZed and seen that the mavros block is connected to my output block for that message.

I think the root problem may be not having the LidarLite data correctly publishing on the mavros environment. Additionally I think there may be some other unknown problem.