RPLIDAREException:描述符起始字节不正确

Question

我将RPLidar A2（Slamtec）与raspberry Pi 4一起使用，几乎每次运行代码时都会出现以下错误：“RPLIDARE异常：描述符起始字节不正确”

Python中的代码如下所示，在执行扫描时会出现错误，即在obtener_scan（）函数中

import time
import numpy as np
from rplidar import RPLidar


class Sensor:
     
    def __init__(self): 
        self.lidar = RPLidar('/dev/ttyUSB0') 
        self.datos = [] 
        time.sleep(5) 

    def obtener_scan(self):
        for i, scan in enumerate(self.lidar.iter_scans()):
            print('%d: Got %d measurements' % (i, len(scan)))
            for medida in scan[:len(scan)]:
                if len(self.datos) < 500:
                    self.datos.append(medida[1:])
                else:    
                    print(len(self.datos))
                    self.lidar.stop_motor()
                    return self.datos
    
    def parar_sensor(self):
    self.lidar.stop()
    self.lidar.stop_motor()
    self.lidar.disconnect()