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Joystick Control with Gazebo

I am trying to run the BlueROV2 gazebo simulation using ROS. I am upgrading some hardware, so would require ROS finally. I installed the bluerov_ros_playground which is working and can connect to ArduSub SITL. I can control from QG using Joystick but not using mavros. These two steps work and I can control from QGC

gazebo src/bluerov_ros_playground/worlds/underwater.world -u
sim_vehicle.py -f gazebo-bluerov2 -L RATBeach

Then, I tested using ROS not running QGC at this point

roslaunch mavros apm.launch fcu_url:=udp://
rosrun mavros mavsafety arm
rosrun mavros mavsys mode -c MANUAL

Since I can arm and set manual mode from mavros, looks like mavros is connected to SITL.

I tried to change yaw by following command

rostopic pub -r 10 /mavros/rc/override mavros_msgs/OverrideRCIn '[1500, 1500, 1500, 2000, 0, 0, 0, 0]'

but nothing happens.
@patrickelectric I need some help please!!