None Publisher in Topic: autopilot/state_estimate

[LeiOuYang]

where is the Topic data source?
File: rpg_quadrotor_control\quad_launch_files\launch\real_quad_example.launch

<group unless="$(arg use_mpc)">
  <node pkg="autopilot" type="autopilot" name="autopilot" output="screen">
    <rosparam file="$(find state_predictor)/parameters/default.yaml" />
    <rosparam file="$(find position_controller)/parameters/default.yaml" />
    <rosparam file="$(find autopilot)/parameters/default.yaml" />

    <param name="position_controller/use_rate_mode" value="True" />

    <param name="velocity_estimate_in_world_frame" value="True" />
    <param name="state_estimate_timeout" value="0.1" />
    <param name="control_command_delay" value="0.0" />
<param name="enable_command_feedthrough" value="$(arg enable_command_feedthrough)" />

    <remap from="autopilot/state_estimate" to="state_estimate" />
  </node>
</group>