R1mini 동작 오류

R1mini 부팅시 헤드라이트가 흰색으로 들어오다가 노란색으로 들어오고, 비프음 한번 들린 후 빨간색으로 들어오는 현상을 반복합니다.

bringup 시에는 아래와 같은 에러가 뜹니다.

mcu_node-1] [INFO] [1683682899.174799236] [omo_r1mini_mcu_node]: looptime : 52540517
[omo_r1mini_mcu_node-1] [INFO] [1683682899.231680634] [omo_r1mini_mcu_node]: looptime : 49714878
[omo_r1mini_mcu_node-1] Traceback (most recent call last):
[omo_r1mini_mcu_node-1] File “/home/nvidia/ros2_ws/install/omo_r1mini_bringup/lib/omo_r1mini_bringup/omo_r1mini_mcu_node”, line 11, in
[omo_r1mini_mcu_node-1] load_entry_point(‘omo-r1mini-bringup’, ‘console_scripts’, ‘omo_r1mini_mcu_node’)()
[omo_r1mini_mcu_node-1] File “/home/nvidia/ros2_ws/build/omo_r1mini_bringup/omo_r1mini_bringup/scripts/omo_r1mini_mcu_node.py”, line 217, in main
[omo_r1mini_mcu_node-1] rclpy.spin(omoR1MiniNode)
[omo_r1mini_mcu_node-1] File “/opt/ros/foxy/lib/python3.8/site-packages/rclpy/init.py”, line 191, in spin
[omo_r1mini_mcu_node-1] executor.spin_once()
[omo_r1mini_mcu_node-1] File “/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py”, line 714, in spin_once
[omo_r1mini_mcu_node-1] raise handler.exception()
[omo_r1mini_mcu_node-1] File “/opt/ros/foxy/lib/python3.8/site-packages/rclpy/task.py”, line 239, in call
[omo_r1mini_mcu_node-1] self._handler.send(None)
[omo_r1mini_mcu_node-1] File “/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py”, line 429, in handler
[omo_r1mini_mcu_node-1] await call_coroutine(entity, arg)
[omo_r1mini_mcu_node-1] File “/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py”, line 343, in _execute_timer
[omo_r1mini_mcu_node-1] await await_or_execute(tmr.callback)
[omo_r1mini_mcu_node-1] File “/opt/ros/foxy/lib/python3.8/site-packages/rclpy/executors.py”, line 118, in await_or_execute
[omo_r1mini_mcu_node-1] return callback(*args)
[omo_r1mini_mcu_node-1] File “/home/nvidia/ros2_ws/build/omo_r1mini_bringup/omo_r1mini_bringup/scripts/omo_r1mini_mcu_node.py”, line 83, in cbTimerProc
[omo_r1mini_mcu_node-1] self.d_current_gyro[‘yaw_per_s’] = float(self.d_current_gyro[‘yaw_per_s’]) * 1.017524025 # TODO:: solve the bias problem
[omo_r1mini_mcu_node-1] TypeError: float() argument must be a string or a number, not ‘NoneType’
[ERROR] [omo_r1mini_mcu_node-1]: process has died [pid 7931, exit code 1, cmd ‘/home/nvidia/ros2_ws/install/omo_r1mini_bringup/lib/omo_r1mini_bringup/omo_r1mini_mcu_node --ros-args -r __node:=omo_r1mini_mcu_node -r __ns:=/ --params-file /home/nvidia/ros2_ws/install/omo_r1mini_bringup/share/omo_r1mini_bringup/param/omo_r1mini_mcu.yaml’].

해결 방법 부탁드립니다.

안녕하세요.
배터리 전압은 확인해보셨을까요?
배터리가 부족할 시에 부저음과 함께 빨간 LED가 깜빡입니다.