Go2 slam mid-360 Error

unitree@ubuntu:/unitree/module/graph_pid_ws$ 
unitree@ubuntu:/unitree/module/graph_pid_ws$ ./0_unitree_slam.sh
[INFO] [launch]: All log files can be found below /home/unitree/.ros/log/1970-01-21-16-38-10-111580-ubuntu-4450
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [unitree_slam-1]: process started with pid [4452]
[INFO] [rs_lidar_cheak-2]: process started with pid [4454]
[rs_lidar_cheak-2] current path: /unitree/module/graph_pid_ws/src/QT_Server/shell
[rs_lidar_cheak-2] robot type : Go2
[rs_lidar_cheak-2] [INFO] [launch]: All log files can be found below /home/unitree/.ros/log/1970-01-21-16-38-11-058940-ubuntu-4498
[rs_lidar_cheak-2] [INFO] [launch]: Default logging verbosity is set to INFO
[rs_lidar_cheak-2] [INFO] [dog_control-1]: process started with pid [4500]
[rs_lidar_cheak-2] [INFO] [send_cmd-2]: process started with pid [4502]
[rs_lidar_cheak-2] [INFO] [send_sport_cmd-3]: process started with pid [4512]
[unitree_slam-1] current path: /unitree/module/graph_pid_ws/src/QT_Server/shell
[unitree_slam-1] [INFO] [0001759126.398293792] [rclcpp]: ----> lidar_checkout Projection Started.
[unitree_slam-1] [INFO] [launch]: All log files can be found below /home/unitree/.ros/log/1970-01-21-16-38-46-514559-ubuntu-4564
[unitree_slam-1] [INFO] [launch]: Default logging verbosity is set to INFO
[unitree_slam-1] [INFO] [lio_sam_ros2_dogOdomForMapping-1]: process started with pid [4575]
[unitree_slam-1] [INFO] [lio_sam_ros2_imuPreintegration-2]: process started with pid [4577]
[unitree_slam-1] [INFO] [lio_sam_ros2_imageProjection-3]: process started with pid [4579]
[unitree_slam-1] [INFO] [lio_sam_ros2_mapOptmization-4]: process started with pid [4581]
[unitree_slam-1] [lio_sam_ros2_dogOdomForMapping-1] [INFO] [0001759126.681819520] [lio_sam_ros2_dogOdomForMapping]: gridResolutionX = 15
[unitree_slam-1] [lio_sam_ros2_dogOdomForMapping-1] [INFO] [0001759126.682155136] [lio_sam_ros2_dogOdomForMapping]: gridResolutionY = 15
[unitree_slam-1] [lio_sam_ros2_dogOdomForMapping-1] [INFO] [0001759126.682336992] [lio_sam_ros2_dogOdomForMapping]: nearbyMethod = 0X/���
[unitree_slam-1] [lio_sam_ros2_imuPreintegration-2] [INFO] [0001759126.687284128] [lio_sam_ros2_imu_preintegration]: gridResolutionX = 15
[unitree_slam-1] [lio_sam_ros2_imuPreintegration-2] [INFO] [0001759126.688812928] [lio_sam_ros2_imu_preintegration]: gridResolutionY = 15
[unitree_slam-1] [lio_sam_ros2_imuPreintegration-2] [INFO] [0001759126.689656576] [lio_sam_ros2_imu_preintegration]: nearbyMethod = �/����
[unitree_slam-1] [lio_sam_ros2_dogOdomForMapping-1] [INFO] [0001759126.698370432] [rclcpp]: ----> Dog Odom process for mapping Started.
[unitree_slam-1] [lio_sam_ros2_imageProjection-3] [INFO] [0001759126.727535232] [lio_sam_ros2_imageProjection]: gridResolutionX = 15
[unitree_slam-1] [lio_sam_ros2_imageProjection-3] [INFO] [0001759126.728116640] [lio_sam_ros2_imageProjection]: gridResolutionY = 15
[unitree_slam-1] [lio_sam_ros2_imageProjection-3] [INFO] [0001759126.728450368] [lio_sam_ros2_imageProjection]: nearbyMethod = �[#���
[unitree_slam-1] [INFO] [0001759126.749532160] [rclcpp]: ----> start xt16 check !
[unitree_slam-1] [lio_sam_ros2_imageProjection-3]  pub 1
[unitree_slam-1] [INFO] [0001759126.751848288] [rclcpp]: ----> xt16 check failed!
[unitree_slam-1] [INFO] [0001759126.751895040] [rclcpp]: ----> start livox check !
[unitree_slam-1] [1970-01-21 16:38:46.752] [console] [info] set master/slave sdk to master sdk by default  [parse_cfg_file.cpp] [Parse] [83]
[unitree_slam-1] [1970-01-21 16:38:46.752] [console] [info] Livox lidar logger disable.  [parse_cfg_file.cpp] [Parse] [124]
[unitree_slam-1] [1970-01-21 16:38:46.752] [console] [info] Device type:9 point cloud and IMU data multicast ip:224.1.1.5  [params_check.cpp] [CheckLidarMulticastIp] [114]
[unitree_slam-1] [1970-01-21 16:38:46.752] [console] [info] Data Handler Init Succ.  [data_handler.cpp] [Init] [49]
[unitree_slam-1] [1970-01-21 16:38:46.752] [console] [info] Init livox lidars succ.  [device_manager.cpp] [Init] [162]
[unitree_slam-1] [lio_sam_ros2_imuPreintegration-2] [INFO] [0001759126.767569088] [lio_sam_ros2_transformFusion]: gridResolutionX = 15
[unitree_slam-1] [lio_sam_ros2_imuPreintegration-2] [INFO] [0001759126.768371808] [lio_sam_ros2_transformFusion]: gridResolutionY = 15
[unitree_slam-1] [lio_sam_ros2_imuPreintegration-2] [INFO] [0001759126.768793664] [lio_sam_ros2_transformFusion]: nearbyMethod = p2����
[unitree_slam-1] [lio_sam_ros2_imuPreintegration-2] [INFO] [0001759126.777953280] [rclcpp]: ----> IMU Preintegration Started.
[unitree_slam-1] [lio_sam_ros2_mapOptmization-4] [INFO] [0001759126.780765344] [lio_sam_ros2_mapOptimization]: gridResolutionX = 15
[unitree_slam-1] [lio_sam_ros2_mapOptmization-4] [INFO] [0001759126.781261056] [lio_sam_ros2_mapOptimization]: gridResolutionY = 15
[unitree_slam-1] [lio_sam_ros2_mapOptmization-4] [INFO] [0001759126.782407168] [lio_sam_ros2_mapOptimization]: nearbyMethod = �����
[unitree_slam-1] [lio_sam_ros2_mapOptmization-4] rm: cannot remove '/unitree/module/graph_pid_ws/config_files/lio_sam_config/maps/pcd/default/SCDs/': No such file or directory
[unitree_slam-1] [lio_sam_ros2_mapOptmization-4] rm: cannot remove '/unitree/module/graph_pid_ws/config_files/lio_sam_config/maps/pcd/default/Scans/': No such file or directory
[unitree_slam-1] [lio_sam_ros2_mapOptmization-4] [INFO] [0001759126.826604736] [rclcpp]: ----> Map Optimization Started.
[unitree_slam-1] [1970-01-21 16:38:46.964] [console] [info]  Receive Command: Id 258 Seq 24775  [mid360_command_handler.cpp] [Handle] [67]
[unitree_slam-1] [lio_sam_ros2_imageProjection-3]  pub 2
[unitree_slam-1] [lio_sam_ros2_imageProjection-3]  pub 3
[unitree_slam-1] [lio_sam_ros2_imageProjection-3] [INFO] [0001759127.749763584] [rclcpp]: ----> Image Projection Started.
[unitree_slam-1] [1970-01-21 16:38:47.753] [console] [info] Handle detection data, handle:343648448, dev_type:9, sn:47MDLAR0020126, cmd_port:56100  [general_command_handler.cpp] [HandleDetectionData] [313]
[unitree_slam-1] [1970-01-21 16:38:47.755] [console] [info]  Receive Ack: Id 257 Seq 4  [mid360_command_handler.cpp] [Handle] [64]
[unitree_slam-1] [1970-01-21 16:38:47.755] [console] [info] Query Fw type succ, the fw_type:1  [general_command_handler.cpp] [QueryFwTypeCallback] [451]
[unitree_slam-1] [1970-01-21 16:38:47.963] [console] [info]  Receive Command: Id 258 Seq 24801  [mid360_command_handler.cpp] [Handle] [67]
[unitree_slam-1] [1970-01-21 16:38:48.753] [console] [info] Handle detection data, handle:343648448, dev_type:9, sn:47MDLAR0020126, cmd_port:56100  [general_command_handler.cpp] [HandleDetectionData] [313]
[unitree_slam-1] [1970-01-21 16:38:48.757] [console] [info]  Receive Ack: Id 256 Seq 6  [mid360_command_handler.cpp] [Handle] [64]
[unitree_slam-1] [1970-01-21 16:38:48.758] [console] [info] Update lidar:343648448 succ.  [mid360_command_handler.cpp] [UpdateLidarCallback] [169]
[unitree_slam-1] [INFO] [0001759128.758089632] [rclcpp]: ----> LidarCheckOut Faild!
[unitree_slam-1] [INFO] [0001759129.754272416] [rclcpp]: ----> LidarCheckOut Faild!
[unitree_slam-1] [INFO] [0001759129.754642368] [rclcpp]: ----> start xt16 check !
[unitree_slam-1] [INFO] [0001759129.755911648] [rclcpp]: ----> xt16 check failed!
[unitree_slam-1] [INFO] [0001759129.755962016] [rclcpp]: ----> start livox check !
[unitree_slam-1] [1970-01-21 16:38:49.756] [console] [info] set master/slave sdk to master sdk by default  [parse_cfg_file.cpp] [Parse] [83]
[unitree_slam-1] [1970-01-21 16:38:49.756] [console] [info] Livox lidar logger disable.  [parse_cfg_file.cpp] [Parse] [124]
[unitree_slam-1] [1970-01-21 16:38:49.756] [console] [info] Device type:9 point cloud and IMU data multicast ip:224.1.1.5  [params_check.cpp] [CheckLidarMulticastIp] [114]
[unitree_slam-1] [1970-01-21 16:38:49.756] [console] [info] Data Handler Init Succ.  [data_handler.cpp] [Init] [49]
[unitree_slam-1] [lio_sam_ros2_imageProjection-3] imageProjection is forced to stop
[unitree_slam-1] [lio_sam_ros2_mapOptmization-4] mapOptmization is forced to stop
[unitree_slam-1] [lio_sam_ros2_imuPreintegration-2] imuPreintegration is forced to stop
[unitree_slam-1] [lio_sam_ros2_dogOdomForMapping-1] dogOdomForMapping is forced to stop
[unitree_slam-1] [INFO] [lio_sam_ros2_imageProjection-3]: process has finished cleanly [pid 4579]
[unitree_slam-1] [INFO] [lio_sam_ros2_imuPreintegration-2]: process has finished cleanly [pid 4577]
[unitree_slam-1] [INFO] [lio_sam_ros2_dogOdomForMapping-1]: process has finished cleanly [pid 4575]
[unitree_slam-1] [INFO] [lio_sam_ros2_mapOptmization-4]: process has finished cleanly [pid 4581]
[unitree_slam-1] [1970-01-21 16:38:49.903] [console] [info] Init livox lidars succ.  [device_manager.cpp] [Init] [162]
[unitree_slam-1] [1970-01-21 16:38:50.905] [console] [info] Handle detection data, handle:343648448, dev_type:9, sn:47MDLAR0020126, cmd_port:56100  [general_command_handler.cpp] [HandleDetectionData] [313]
[unitree_slam-1] [1970-01-21 16:38:50.907] [console] [info]  Receive Ack: Id 257 Seq 9  [mid360_command_handler.cpp] [Handle] [64]
[unitree_slam-1] [1970-01-21 16:38:50.907] [console] [info] Query Fw type succ, the fw_type:1  [general_command_handler.cpp] [QueryFwTypeCallback] [451]
[unitree_slam-1] [1970-01-21 16:38:51.905] [console] [info] Handle detection data, handle:343648448, dev_type:9, sn:47MDLAR0020126, cmd_port:56100  [general_command_handler.cpp] [HandleDetectionData] [313]
[unitree_slam-1] [1970-01-21 16:38:51.907] [console] [info]  Receive Ack: Id 256 Seq 11  [mid360_command_handler.cpp] [Handle] [64]
[unitree_slam-1] [1970-01-21 16:38:51.907] [console] [info] Update lidar:343648448 succ.  [mid360_command_handler.cpp] [UpdateLidarCallback] [169]
[unitree_slam-1] [INFO] [0001759131.907867072] [rclcpp]: ----> LidarCheckOut Faild!
[unitree_slam-1] [INFO] [0001759132.905099104] [rclcpp]: ----> LidarCheckOut Faild!
[unitree_slam-1] lidar_checkout is forced to stop
[unitree_slam-1] current path: /unitree/module/graph_pid_ws/src/QT_Server/shell
[unitree_slam-1] [INFO] [launch]: All log files can be found below /home/unitree/.ros/log/1970-01-21-16-38-54-838004-ubuntu-4658
[unitree_slam-1] [INFO] [launch]: Default logging verbosity is set to INFO
[unitree_slam-1] [INFO] [livox_ros_driver2_node-1]: process started with pid [4660]
[unitree_slam-1] [livox_ros_driver2_node-1] [INFO] [0001759135.003073504] [livox_lidar_publisher]: Livox Ros Driver2 Version: 1.0.0
[unitree_slam-1] [livox_ros_driver2_node-1] [INFO] [0001759135.006545088] [livox_lidar_publisher]: Data Source is raw lidar.
[unitree_slam-1] [livox_ros_driver2_node-1] [INFO] [0001759135.006639808] [livox_lidar_publisher]: Config file : /unitree/module/graph_pid_ws/install/share/livox_ros_driver2/launch_ROS2/../config/MID360_config.json
[unitree_slam-1] [livox_ros_driver2_node-1] LdsLidar *GetInstance
[unitree_slam-1] [livox_ros_driver2_node-1] config lidar type: 8
[unitree_slam-1] [livox_ros_driver2_node-1] successfully parse base config, counts: 1
[unitree_slam-1] [livox_ros_driver2_node-1] [INFO] [0001759135.011785664] [livox_lidar_publisher]: Init lds lidar success!
[unitree_slam-1] [livox_ros_driver2_node-1] GetFreeIndex key:livox_lidar_343648448.
[unitree_slam-1] [livox_ros_driver2_node-1] set pcl data type, handle: 343648448, data type: 1
[unitree_slam-1] [livox_ros_driver2_node-1] set scan pattern, handle: 343648448, scan pattern: 0
[unitree_slam-1] [livox_ros_driver2_node-1] begin to change work mode to 'Normal', handle: 343648448
[unitree_slam-1] [livox_ros_driver2_node-1] successfully set data type, handle: 343648448, set_bit: 2
[unitree_slam-1] [livox_ros_driver2_node-1] successfully set pattern mode, handle: 343648448, set_bit: 0
[unitree_slam-1] [livox_ros_driver2_node-1] successfully set lidar attitude, ip: 192.168.123.20
[unitree_slam-1] [livox_ros_driver2_node-1] successfully change work mode, handle: 343648448
[unitree_slam-1] [livox_ros_driver2_node-1] successfully enable Livox Lidar imu, ip: 192.168.123.20
[unitree_slam-1] [livox_ros_driver2_node-1] [INFO] [0001759138.014747328] [livox_lidar_publisher]: livox/imu publish use imu format
[unitree_slam-1] [livox_ros_driver2_node-1] [INFO] [0001759138.016481920] [livox_lidar_publisher]: livox/lidar publish use PointCloud2 format
[unitree_slam-1] [livox_ros_driver2_node-1] Init queue, real query size:32.
[unitree_slam-1] [livox_ros_driver2_node-1] Lidar[0] storage queue size: 21
[unitree_slam-1] [livox_ros_driver2_node-1] Livoxlidar is forced to stop
[unitree_slam-1] [ERROR] [livox_ros_driver2_node-1]: process has died [pid 4660, exit code -9, cmd '/unitree/module/graph_pid_ws/install/lib/livox_ros_driver2/livox_ros_driver2_node --ros-args -r __node:=livox_lidar_publisher --params-file /tmp/launch_params_qsa7jy67 --params-file /tmp/launch_params_15kdfow1 --params-file /tmp/launch_params__5p1ugmb --params-file /tmp/launch_params_2cekts_2 --params-file /tmp/launch_params_e3487297 --params-file /tmp/launch_params_zj5b7rkp --params-file /tmp/launch_params_xhvkcltt --params-file /tmp/launch_params_ha1ms81h --params-file /tmp/launch_params_m3cnxy_1'].
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rs_lidar_cheak-2] [INFO] [0001759200.655758208] [rclcpp]: signal_handler(signal_value=2)
[unitree_slam-1] [INFO] [0001759200.656091392] [rclcpp]: signal_handler(signal_value=2)
[rs_lidar_cheak-2] [WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[rs_lidar_cheak-2] [send_sport_cmd-3] [INFO] [0001759200.655505952] [rclcpp]: signal_handler(signal_value=2)
[rs_lidar_cheak-2] [INFO] [send_sport_cmd-3]: sending signal 'SIGINT' to process[send_sport_cmd-3]
[rs_lidar_cheak-2] [ERROR] [send_cmd-2]: process has died [pid 4502, exit code -2, cmd '/unitree/module/graph_pid_ws/install/lib/go2_control_by_sdk/send_cmd eth0 --ros-args'].
[rs_lidar_cheak-2] [INFO] [dog_control-1]: sending signal 'SIGINT' to process[dog_control-1]
[rs_lidar_cheak-2] [dog_control-1] [INFO] [0001759200.655746912] [rclcpp]: signal_handler(signal_value=2)
[rs_lidar_cheak-2] [ERROR] [send_sport_cmd-3]: process has died [pid 4512, exit code -2, cmd '/unitree/module/graph_pid_ws/install/lib/dog_control/send_sport_cmd --ros-args'].
[rs_lidar_cheak-2] [ERROR] [dog_control-1]: process has died [pid 4500, exit code -2, cmd '/unitree/module/graph_pid_ws/install/lib/dog_control/dog_control --ros-args'].
[INFO] [rs_lidar_cheak-2]: process has finished cleanly [pid 4454]
[ERROR] [unitree_slam-1]: process has died [pid 4452, exit code -11, cmd '/unitree/module/graph_pid_ws/install/lib/QT_Server/unitree_slam --ros-args --params-file /unitree/module/graph_pid_ws/config_files/QT_Server_config/configs/params.yaml'].
unitree@ubuntu:/unitree/module/graph_pid_ws$