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

[qimg412]

Hello, I found a same issue, have you solved it？ I connected M750d and M1200d, and the Oculus Viewpoint software was able to get both two sonars, but no images were shown in rqt two. My system is ubuntu 20.04.6LTS, and ros noetic