Checksum error #67
Description
Hi everyone,
When I launch ydlidar_ros2_driver, I met checksum error:
orangepi@orangepi6plus:~/ros2_jaz$ ros2 launch ydlidar_ros2_driver ydlidar_launch.py params_file:=ydlidar_ws/src/ydlidar_ros2_driver/params/ydlidar.yaml [INFO] [launch]: All log files can be found below /home/orangepi/.ros/log/2026-01-08-10-34-46-866848-orangepi6plus-16712 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [ydlidar_ros2_driver_node-1]: process started with pid [16739] [INFO] [static_transform_publisher-2]: process started with pid [16741] [static_transform_publisher-2] [WARN] [1767839687.122240546] []: Old-style arguments are deprecated; see --help for new-style arguments [static_transform_publisher-2] [INFO] [1767839687.160145735] [static_tf_pub_laser]: Spinning until stopped - publishing transform [static_transform_publisher-2] translation: ('0.000000', '0.000000', '0.020000') [static_transform_publisher-2] rotation: ('0.000000', '0.000000', '0.000000', '1.000000') [static_transform_publisher-2] from 'base_link' to 'laser_frame' [ydlidar_ros2_driver_node-1] [INFO] [1767839687.161457856] [ydlidar_ros2_driver_node]: [YDLIDAR INFO] Current ROS Driver Version: 1.0.1 [ydlidar_ros2_driver_node-1] [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:47][info] SDK initializing [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:47][info] SDK has been initialized [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:47][info] SDK Version: 1.2.19 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:47][info] Connect elapsed time 3 ms [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:47][info] Lidar successfully connected [/dev/ttyUSB0:230400] [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:47][info] Lidar running correctly! The health status good [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:47][info] Current Lidar Model Code 151 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:47][info] Baseplate device info [ydlidar_ros2_driver_node-1] Firmware version: 1.2 [ydlidar_ros2_driver_node-1] Hardware version: 1 [ydlidar_ros2_driver_node-1] Model: Tmini Plus [ydlidar_ros2_driver_node-1] Serial: 2025121500090271 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:47][info] Current scan frequency: 10.00Hz [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:48][info] Current scan frequency: 10.00Hz [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:48][info] Check status, Elapsed time 883 ms [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:48][info] Lidar init success, Elapsed time [886]ms [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][info] [YDLIDAR] Create thread 0xAA7CE040 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x9B4F != 0x75A1 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x87CA != 0x4F5C [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x9B3E != 0x7505 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x7D2B != 0x6EE5 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x7492 != 0xAA36 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x1A8F != 0x60EE [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0xB0AA != 0x4319 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0xF274 != 0xD1B4 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x48D3 != 0x701F [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0xFC7F != 0x5D5A [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x9167 != 0x6BDC [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x1753 != 0x41A0 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x34F7 != 0x095A [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x220C != 0x6361 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0xC172 != 0x4EF7 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x5028 != 0x6ECC [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x9DCF != 0xAD36 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0xF906 != 0xC9DD [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x613E != 0x4D01 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x4C41 != 0x6F64 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0xE2E4 != 0xE3E5 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x7C83 != 0x49AF [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0xF660 != 0x4D0A [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0xFA17 != 0x60CE [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x75E8 != 0x4551 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x5F6D != 0x01CD [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x8E8D != 0x6A73 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x95AD != 0x49AA [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x45A7 != 0x6FE4 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x5B55 != 0x0C3A [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x2BFC != 0x587C [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x460D != 0x4E8E [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0xD8AE != 0xE7A4 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0xEC61 != 0x6CAC [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x8C35 != 0x7338 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x05FD != 0x427E [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0xDD3E != 0x5FB3 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:49][error] Check Sum 0x3266 != 0x020E [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:50][error] Check Sum 0xACF7 != 0x6CAB [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:50][error] Check Sum 0x6005 != 0x487F ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [ydlidar_ros2_driver_node-1] [INFO] [1767839690.030506893] [rclcpp]: signal_handler(SIGINT/SIGTERM) [ydlidar_ros2_driver_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError' [ydlidar_ros2_driver_node-1] what(): could not create publisher: rcl node's context is invalid, at /home/orangepi/ros2_jaz/src/ros2/rcl/rcl/src/rcl/node.c:404 [ERROR] [ydlidar_ros2_driver_node-1]: process has died [pid 16739, exit code -6, cmd '/home/orangepi/ros2_jaz/install/ydlidar_ros2_driver/lib/ydlidar_ros2_driver/ydlidar_ros2_driver_node --ros-args -r __node:=ydlidar_ros2_driver_node -r __ns:=/ --params-file ydlidar_ws/src/ydlidar_ros2_driver/params/ydlidar.yaml']. [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:50][info] Successed to start scan mode, Elapsed time 1982 ms [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:50][info] Scan Frequency: 10.00Hz [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:50][info] Fixed Size: 430 [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:50][info] Sample Rate: 4.00K [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:50][info] Successed to check the lidar, Elapsed time 0 ms [ydlidar_ros2_driver_node-1] [2026-01-08 10:34:50][info] Now lidar is scanning... [static_transform_publisher-2] [INFO] [1767839690.030614499] [rclcpp]: signal_handler(SIGINT/SIGTERM) [INFO] [static_transform_publisher-2]: process has finished cleanly [pid 16741]
Could you let me know how to fix this error?
Thank you so much!