APM: EKF2 IMU0 ground mag anomaly, yaw re-aligned when run with gazebo_ros

[varunvp]

Hello,
Until 2 weeks ago the setup that I was using with Arducopter 3.6.7, Gazebo 9 and ROS was working fine. But from then the drone, after giving a takeoff command, takes off with a tilt, gives the following errors,

ARMED
Got COMMAND_ACK: NAV_TAKEOFF: ACCEPTED
APM: EKF2 IMU0 ground mag anomaly, yaw re-aligned
APM: EKF2 IMU1 ground mag anomaly, yaw re-aligned
APM: GPS Glitch
APM: EKF variance
LAND> Mode LAND

and flips in air and crashes.

This seems to be a ROS specific problem because the same world when run without ROS behaves normally. This problem happens when I run with gazebo_ros node. I don't understand how this could be interfering with Gazebo's IMU. I'm getting the same problem with SwiftGust's plugin.