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hector_quadrotor not responding to cmd_vel

I'm using the hector_quadrotor package, and tyring to simulate in gazebo. The simulated bot does not respond to commands over cmd_vel, from command line (rostopic pub), from a custom keyboard teleop node, or even from rosrun hector_quadrotor_controller test_trajectory.

I'm launching gazebo and spawning the drone using

$ roslaunch hector_gazebo_worlds rolling_landscape_120m.launch
$ roslaunch hector_quadrotor_gazebo spawn_quadrotor.launch

I'm sure it's something simple I'm overlooking, but help would be appreciated!

Further tests show that cmd_vel does nothing with

$ roslaunch hector_quadrotor_gazebo quadrotor_empty_world.launch
$ rosrun hector_quadrotor_controller test_trajectory