The connection is successful, but there is no output, and there is no message in echo ping. What is the reason?

[CHANdaFeng]

Hello, the model I use is m1200d. When I use sonar_oculus.launch, I can connect, but run to sonar.cpp262 line of code if (nbeams > 0 && nbins > 0 && id > latest_id) {
latest_id = id;
There is no output, and echo ping has no message, what is the reason?

... logging to /home/cxf/.ros/log/4548b51e-bbe9-11ed-bf5f-439b768fe230/roslaunch-cxf-231325.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cxf:41183/

SUMMARY

PARAMETERS

• /rosdistro: noetic
• /rosversion: 1.15.15
• /sonar_oculus_node_M1200d/frame: /M1200d
• /sonar_oculus_node_M1200d/model: M1200d

NODES
/
sonar_oculus_node_M1200d (sonar_oculus/sonar_oculus_node)

ROS_MASTER_URI=http://localhost:11311

process[sonar_oculus_node_M1200d-1]: started with pid [231359]
[ INFO] [1678084730.071438304]: Initializing...
[ INFO] [1678084730.084533767]: Connecting...
[ INFO] [1678084730.085274067]: The IP address is 169.254.70.29
[ INFO] [1678084730.085303625]: Oculus model is M1200d
[ INFO] [1678084730.085783393]: Connected!
[ INFO] [1678084730.086022395]: Got param: /M1200d