I used this post to get past the last error I had on tutorial 2: http://forum.erlerobotics.com/t/tutorial-2-mavros-issues/1037 . I then execute
roslaunch mavlink_bridge.launch and console indicates everything was started but I never see an APM window popup. I am able to takeoff, etc and perfrom other tutorial steps up to this point, and see them occur in gazebo. Below is console output from mavlink bridge launch:
* /iris/mavlink_bridge/gcs_url: udp://127.0.0.1:1...
* /rosdistro: indigo
* /rosversion: 1.11.21
core service [/rosout] found
process[iris/mavlink_bridge-1]: started with pid 
Then when arming the throttle in the mavros terminal it seems to disarm them automatically and attempt to use APM, which is no where to be found. I do see this in the ardupilot plugin terminal window:
[ERROR] [1490467317.294777162, 335.442500000]: FCU: ARMING MOTORS
[ WARN] [1490467317.295637827, 335.442500000]: FCU: Initialising APM...
[ERROR] [1490467325.654544300, 345.407500000]: FCU: DISARMING MOTORS
Any help would be greatly appreciated i seem to be stuck on this step.