pixhawk connection JETSON TX2

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Hello Everyone. I’m new in ROS. I run roslaunch mavros px4.launch fcu_url:="/dev/ttyTHS1:921600" gcs_url:="udp://@10.42.0.85" and I get this:

• [ INFO] [1575371919.146839830]: Plugin rc_io initialized
• [ INFO] [1575371919.147169913]: Plugin safety_area blacklisted
• [ INFO] [1575371919.147721256]: Plugin setpoint_accel loaded
• [ INFO] [1575371919.155037956]: Plugin setpoint_accel initialized
• [ INFO] [1575371919.156070857]: Plugin setpoint_attitude loaded
• [ INFO] [1575371919.180280403]: Plugin setpoint_attitude initialized
• [ INFO] [1575371919.180962551]: Plugin setpoint_position loaded
• [ INFO] [1575371919.223178064]: Plugin setpoint_position initialized
• [ INFO] [1575371919.223720608]: Plugin setpoint_raw loaded
• [ INFO] [1575371919.250321304]: Plugin setpoint_raw initialized
• [ INFO] [1575371919.251363420]: Plugin setpoint_trajectory loaded
• [ INFO] [1575371919.261510302]: Plugin setpoint_trajectory initialized
• [ INFO] [1575371919.262125192]: Plugin setpoint_velocity loaded
• [ INFO] [1575371919.278658007]: Plugin setpoint_velocity initialized
• [ INFO] [1575371919.279859341]: Plugin sys_status loaded
• [ INFO] [1575371919.307175110]: Plugin sys_status initialized
• [ INFO] [1575371919.308086294]: Plugin sys_time loaded
• [ INFO] [1575371919.319972895]: TM: Timesync mode: MAVLINK
• [ INFO] [1575371919.324053655]: Plugin sys_time initialized
• [ INFO] [1575371919.324787575]: Plugin trajectory loaded
• [ INFO] [1575371919.345637097]: Plugin trajectory initialized
• [ INFO] [1575371919.346560472]: Plugin vfr_hud loaded
• [ INFO] [1575371919.349068667]: Plugin vfr_hud initialized
• [ INFO] [1575371919.349268553]: Plugin vibration blacklisted
• [ INFO] [1575371919.349832568]: Plugin vision_pose_estimate loaded
• [ INFO] [1575371919.366850684]: Plugin vision_pose_estimate initialized
• [ INFO] [1575371919.367271639]: Plugin vision_speed_estimate loaded
• [ INFO] [1575371919.375466757]: Plugin vision_speed_estimate initialized
• [ INFO] [1575371919.376295452]: Plugin waypoint loaded
• [ INFO] [1575371919.387441606]: Plugin waypoint initialized
• [ INFO] [1575371919.387652083]: Plugin wheel_odometry blacklisted
• [ INFO] [1575371919.388259390]: Plugin wind_estimation loaded
• [ INFO] [1575371919.390697255]: Plugin wind_estimation initialized
• [ INFO] [1575371919.391405161]: Autostarting mavlink via USB on PX4
• [ INFO] [1575371919.392222241]: Built-in SIMD instructions: ARM NEON
• [ INFO] [1575371919.392707414]: Built-in MAVLink package version: 2019.11.11
• [ INFO] [1575371919.393094324]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta
• [ INFO] [1575371919.393653795]: MAVROS started. MY ID 1.240, TARGET ID 1.1

But I'm not getting the Heartbeat CON: Got HEARTBEAT I am using a Jetson TX2 and I have already installed ROS and MAVROS. I have the pixhawk 4 connected to Jetson via Telem port 2. I don’t want to use APSync, I'm using PX4. I want to run a test in my own drone that I have. Please, I ask for help to the community.