ROS "failed to contacat master" and shaking drone

The first problem is that when I try to use ROS to get distance and downward images, the drone goes out of control and the pi shows"failed to contact master… retrying…". Previously I did the same experiment and there is no such error. Does anyone knows why is it?
The second is that the drone shakes after takes off. I have used the anti-vibration part and a new navio2(since previously it also shaked). So how could I make it fly stable?

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Could you please shed a light on what’s exactly you’re trying to achieve? What kind of software did you use?