Hi Everyone, i want to get some of my apm data to ROS for doing 3D SLAM. For that i am using MAVROS. i successfully installed the mavros but when i echo my topics, some of them publish data but others not.

edit

THIS is what it shows when i launch apm2.launch file.

Built-in SIMD instructions: SSE, SSE2

Built-in MAVLink package version: 2016.4.4

[ INFO] Built-in MAVLink dialect: ardupilotmega

[ INFO] MAVROS started. MY ID 1.240, TARGET ID 1.1

[ERROR] FCU: Calibrating barometer

[ INFO] CON: Got HEARTBEAT, connected. FCU: ArduPilotMega

[ERROR] FCU: barometer calibration complete

[ERROR] FCU: GROUND START

[ WARN] VER: broadcast request timeout, retries left 4

[ WARN] VER: broadcast request timeout, retries left 3

[ WARN] VER: unicast request timeout, retries left 2

[ WARN] VER: unicast request timeout, retries left 1

[ WARN] VER: unicast request timeout, retries left 0

[ WARN] VER: your FCU don't support AUTOPILOT_VERSION, switched to default capabilities

[ERROR] FCU: ArduCopter V3.2.1 (36b405fb)

[ERROR] FCU: Frame: QUAD

[ INFO] WP: mission received

[ INFO] PR: parameters list received

and these are the topics published

/diagnostics

/mavlink/from

/mavlink/to

/mavros/altitude

/mavros/battery

/mavros/cam_imu_sync/cam_imu_stamp

/mavros/extended_state

/mavros/global_position/compass_hdg

/mavros/global_position/global

/mavros/global_position/local

/mavros/global_position/raw/fix

/mavros/global_position/raw/gps_vel

/mavros/global_position/rel_alt

/mavros/imu/atm_pressure

/mavros/imu/data

/mavros/imu/data_raw

/mavros/imu/mag

/mavros/imu/temperature

/mavros/local_position/odom

/mavros/local_position/pose

/mavros/local_position/velocity

/mavros/manual_control/control

/mavros/mission/waypoints

/mavros/radio_status

/mavros/rc/in

/mavros/rc/out

/mavros/rc/override

/mavros/setpoint_accel/accel

/mavros/setpoint_position/local

/mavros/setpoint_raw/attitude

/mavros/setpoint_raw/global

/mavros/setpoint_raw/local

/mavros/setpoint_raw/target_attitude

/mavros/setpoint_raw/target_global

/mavros/setpoint_raw/target_local

/mavros/setpoint_velocity/cmd_vel

/mavros/state

/mavros/time_reference

/mavros/vfr_hud

/mavros/wind_estimation

/rosout

/rosout_agg

/tf

/tf_static

i do /diagnostics and came to know that its because of the absence of GPS and other compulsory hardware. BUT i do not want to use GPS and compass data

THANKS in advance!