Scout mini cannot launch scout_base scout_base.launch.py

[chpter]

[scout_base_node-1] [INFO] [1730775811.152631795] [scout]: Loading parameters:
[scout_base_node-1] [INFO] [1730775811.152706953] [scout]: - port name: can0
[scout_base_node-1] [INFO] [1730775811.152715551] [scout]: - odom frame name: odom
[scout_base_node-1] [INFO] [1730775811.152725722] [scout]: - base frame name: base_link
[scout_base_node-1] [INFO] [1730775811.152736674] [scout]: - odom topic name: odom
[scout_base_node-1] [INFO] [1730775811.152744440] [scout]: - is scout mini: false
[scout_base_node-1] [INFO] [1730775811.152750311] [scout]: - is omni wheel: false
[scout_base_node-1] [INFO] [1730775811.152756403] [scout]: - auto reconnect: true
[scout_base_node-1] [INFO] [1730775811.152762237] [scout]: - simulated robot: false
[scout_base_node-1] [INFO] [1730775811.152768092] [scout]: - sim control rate: 50
[scout_base_node-1] [INFO] [1730775811.152773320] [scout]: ----------------------------
[scout_base_node-1] [INFO] [1730775811.152779730] [scout]: Robot base: Scout
[scout_base_node-1] Start listening to port: can0
[scout_base_node-1] [INFO] [1730775816.164856165] [scout]: Detected protocol: UNKONWN
[scout_base_node-1] cannot publish data, at ./src/rmw_publish.cpp:62 during 'function'
[scout_base_node-1] [ERROR] [1730775816.269496859] [scout.rclcpp]: Error in destruction of rcl subscription handle: Failed to delete datareader, at ./src/subscription.cpp:52, at ./src/rcl/subscription.c:184
[scout_base_node-1] cannot publish data, at ./src/rmw_publish.cpp:62 during 'function'
[scout_base_node-1] Fail in delete datareader, at ./src/rmw_service.cpp:104 during 'function'
[ERROR] [scout_base_node-1]: process has died [pid 27041, exit code -11, cmd '/local/mnt/workspace/scout_ws/install/scout_base/lib/scout_base/scout_base_node --ros-args --params-file /tmp/launch_params_jqy07n9p'].

Ubuntu22.04 ros2humble
How to fix it？