Hi @ibaiape! Thanks for your time.
First of all, sorry for that. I asked for the two topics at the same time... My only problem now comes from trying to run "ros_erle_takeoff_land" in hardware, because I achieved the simulation to work.
I'm running the clean code. When I said "I wrote the programm", I meant I copied the programm, sorry. Actually, I downloaded it from github.
Now, my situation is:
I can properly connect my ErleBrain 3 with APM, getting GPS Fix = 4, and GPS Sats = 8 or 9, but every time I restart the brain, I have to enable and restart the apm.service with:
sudo systemctl enable apm.service
sudo systemctl restart apm.service
After that, I source the code, and I try "rosrun ros_erle_takeoff_land ros_erle_takeoff_land", but I get the following error in APM when trying to arm: GPS speed error 1.2 (needs 1.0)
If I change the GUIDED mode for the ALT_HOLD one, the arming process works.
I can make a video if you need, of course.
Thank you again!