Proximity tutorial assumes APM-SITL supports multiple RangeSensors (inputs) over ROS, but it seems it does not:

[evrenguenay]

Hi,

i am getting no mapping for sensor id because of the supported count of range sensors in the plugin in SITL. I adapted the gazebo-iris as follows:

...
SIM_SONAR_SCALE 10
RNGFND1_TYPE 1
RNGFND1_ORIENT 25
RNGFND1_SCALING 10
RNGFND1_PIN 0
RNGFND1_MAX_CM 5000
RNGFND1_ADDR 0x0

RNGFND2_TYPE 1
RNGFND2_ORIENT 0
RNGFND2_SCALING 10
RNGFND2_PIN 1
RNGFND2_MAX_CM 5000
RNGFND2_ADDR 0x1

RNGFND3_TYPE 1
RNGFND3_ORIENT 2
RNGFND3_SCALING 10
RNGFND3_PIN 2
RNGFND3_MAX_CM 5000
RNGFND3_ADDR 0x2

RNGFND4_TYPE 1
RNGFND4_ORIENT 4
RNGFND4_SCALING 10
RNGFND4_PIN 3
RNGFND4_MAX_CM 5000
RNGFND4_ADDR 0x3

RNGFND5_TYPE 1
RNGFND5_ORIENT 6
RNGFND5_SCALING 10
RNGFND5_PIN 4
RNGFND5_MAX_CM 5000
RNGFND5_ADDR 0x4

And i am trying to get the data from these sensors over MAVROS by adapting the apm_config.yaml:

distance_sensor:
rangefinder_pub:
id: 0
frame_id: "lidar"
#orientation: PITCH_270 # sended by FCU
field_of_view: 0.0 # XXX TODO
send_tf: false
sensor_position: {x: 0.0, y: 0.0, z: -0.1}
rangefinder_sub:
subscriber: true
id: 1
orientation: PITCH_270 # only that orientation are supported by APM 3.4+
rangefinder_sub:
subscriber: true
id: 2
orientation: PITCH_270 # only that orientation are supported by APM 3.4+
rangefinder_sub:
subscriber: true
id: 3
orientation: PITCH_270 # only that orientation are supported by APM 3.4+
rangefinder_sub:
subscriber: true
id: 4
orientation: PITCH_270 # only that orientation are supported by APM 3.4+

And i get the following error:
[ERROR] [1656780269.135863111, 6911.310000000]: DS: no mapping for sensor id: 1, type: 4, orientation: 0
[ERROR] [1656780269.135983400, 6911.311000000]: DS: no mapping for sensor id: 2, type: 4, orientation: 2
[ERROR] [1656780269.136013852, 6911.311000000]: DS: no mapping for sensor id: 3, type: 4, orientation: 4

The reason seems obvious, single pub and a single sub supported. But the tutorial here shows it supports multiple sensors:
https://github.com/Intelligent-Quads/iq_tutorials/blob/master/docs/proximity/proximity_overview.md
The QGC screenshots in the tutorial indicates multiple range sensor proximity values (see red curves). How is that done?

Or is there something lacking in the tutorial?