Hello All, Would you please help me, I am trying to publish many topics using Teensy 3.6. I am running the comment below:

rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 __name:=node1 _baud:=115200

I get the error below:

[INFO] [WallTime: 1522103896.287668] ROS Serial Python Node
[INFO] [WallTime: 1522103896.295912] Connecting to /dev/ttyACM0 at 115200 baud
[INFO] [WallTime: 1522103898.568405] Note: publish buffer size is 512 bytes

[INFO] [WallTime: 1522103898.607305] Setup publisher on /Force [std_msgs/Float32].........
[INFO] [WallTime: 1522103898.612464] Note: subscribe buffer size is 512 bytes

[INFO] [WallTime: 1522103898.637525] Setup subscriber on /th_pac1 [std_msgs/Float32].........
[INFO] [WallTime: 1522103899.149705] wrong checksum for topic id and msg
[ERROR] [WallTime: 1522103899.722798] Mismatched protocol version in packet: lost sync or rosserial_python is from different ros release than the rosserial client
[INFO] [WallTime: 1522103899.723073] Protocol version of client is unrecognized, expected Rev 1 (rosserial 0.5+)
[INFO] [WallTime: 1522103900.296360] wrong checksum for topic id and msg
[INFO] [WallTime: 1522103901.439353] wrong checksum for topic id and msg
[INFO] [WallTime: 1522103902.013452] wrong checksum for topic id and msg

The Arduino Code is as follow:

#include <MovingAverage.h>
#include <ros.h>
#include <std_msgs/Float32.h>


//Declearing the Variables

int Valve1 = 8; int Valve2 = 9; int Valve3 = 10;
int Pump1 = 3; int Pump2 = 5; int Pump3 = 6; //PWM
int Buzz1 = 11; int Buzz2 = 12; int Buzz3 = 13; //PWM


float ff_Pdc; float ff_Pac1, lf_Pdc; float lf_Pac1, th_Pdc; float th_Pac1;

float v1, v2, v3,y,x1,x2, gram,z1, z2, z3,p1, p2, p3;

float  Press_Volt1,  Press_Volt2,  Press_Volt3;
float e1, e2, e3;
float psi1, psi2, psi3;
float Kpa1, Kpa2, Kpa3;
float Kpa1_Ave,  Kpa2_Ave,  Kpa3_Ave;

ros::NodeHandle nh;

//Publish Errors
std_msgs::Float32 Error1_msg;
ros::Publisher pub_Error1("/Error1", &Error1_msg);

std_msgs::Float32 Error2_msg;
ros::Publisher pub_Error2("/Error2", &Error2_msg);

std_msgs::Float32 Error3_msg;
ros::Publisher pub_Error3("/Error3", &Error3_msg);

// Pressure Sensor Float32 Msg
std_msgs::Float32 Pressure1_msg;
ros::Publisher pub_Pressure1("/Pressure1", &Pressure1_msg);

std_msgs::Float32 Pressure2_msg;
ros::Publisher pub_Pressure2("/Pressure2", &Pressure2_msg);

std_msgs::Float32 Pressure3_msg;
ros::Publisher pub_Pressure3("/Pressure3", &Pressure3_msg);

// Pdc_Ave Sensor Float32 Msg
std_msgs::Float32 ffPdcArd_msg;
ros::Publisher pub_ffPdcArd("/ffPdcArd", &ffPdcArd_msg);

std_msgs::Float32 lfPdcArd_msg;
ros::Publisher pub_lfPdcArd("/lfPdcArd", &lfPdcArd_msg);

std_msgs::Float32 thPdcArd_msg;
ros::Publisher pub_thPdcArd("/thPdcArd", &thPdcArd_msg);

//Publish Pump Volt
std_msgs::Float32 Force_msg;
ros::Publisher pub_Force("/Force", &Force_msg);

// LoadCell Float32 Msg
std_msgs::Float32 LoadCell_msg;
ros::Publisher pub_LoadCell("/LoadCell", &LoadCell_msg);


//callback function for our subscriber to read Baxter Gripper Position

std_msgs::Float32 ff_pdc_msg;

void callbackff( const std_msgs::Float32& ff_pdc_msg){

ff_Pdc = ff_pdc_msg.data;
}

std_msgs::Float32 ff_pac1_msg;

void callbackff1( const std_msgs::Float32& ff_pac1_msg){

ff_Pac1 = ff_pac1_msg.data;
}
//////////////////////////////////////////////////////
std_msgs::Float32 lf_pdc_msg;

void callbacklf( const std_msgs::Float32& lf_pdc_msg){

lf_Pdc = lf_pdc_msg.data;
}

std_msgs::Float32 lf_pac1_msg;

void callbacklf1( const std_msgs::Float32& lf_pac1_msg){

lf_Pac1 = lf_pac1_msg.data;
}

//////////////////////////////////////////////////////
std_msgs::Float32 th_pdc_msg;

void callbackth( const std_msgs::Float32& th_pdc_msg){

th_Pdc = th_pdc_msg.data;
}

std_msgs::Float32 th_pac1_msg;

void callbackth1( const std_msgs::Float32& th_pac1_msg){

th_Pac1 = th_pac1_msg.data;
}

ros::Subscriber<std_msgs::Float32> subff("/ff_pdc", &callbackff );

ros::Subscriber<std_msgs::Float32> subff1("/ff_pac1", &callbackff1 );

ros::Subscriber<std_msgs::Float32> sublf("/lf_pdc", &callbacklf );

ros::Subscriber<std_msgs::Float32> sublf1("/lf_pac1", &callbacklf1 );

ros::Subscriber<std_msgs::Float32> subth("/th_pdc", &callbackth );

ros::Subscriber<std_msgs::Float32> subth1("/th_pac1", &callbackth1 );

// Create moving average with window size of 5.
MovingAverage average_Kpa1 (5);
MovingAverage average_Kpa2 (5);
MovingAverage average_Kpa3 (5);

void setup() 
{

  pinMode(Pump1, OUTPUT); pinMode(Pump2, OUTPUT); pinMode(Pump3, OUTPUT);  
  pinMode(Valve1, OUTPUT);pinMode(Valve2, OUTPUT);pinMode(Valve3, OUTPUT);
  pinMode(Buzz1, OUTPUT); pinMode(Buzz2, OUTPUT);pinMode(Buzz3, OUTPUT);  

  Serial.begin(57600);
  //nh.getHardware()->setBaud(115200);
  nh.initNode();

  nh.subscribe(subff);
  nh.subscribe(subff1);
  nh.subscribe(sublf);
  nh.subscribe(sublf1);
  nh.subscribe(subth);
  nh.subscribe(subth1);

  nh.advertise(pub_Error1);
  nh.advertise(pub_Error2);
  nh.advertise(pub_Error3);

  nh.advertise(pub_Pressure1);
  nh.advertise(pub_Pressure2);
  nh.advertise(pub_Pressure3);

  nh.advertise(pub_ffPdcArd);
  nh.advertise(pub_lfPdcArd);
  nh.advertise(pub_thPdcArd);

  nh.advertise(pub_LoadCell);
  nh.advertise(pub_Force);
}


void loop() 
{

  x1 = analogRead(A5); //read LoadCell
  p1 = analogRead(A0); //A2 for Arduino (A9 for Teensy)//read pressure
  p2 = analogRead(A1);
  p3 = analogRead(A2);


  Press_Volt1= p1 * (5 / 1023.0);
  if (Press_Volt1 <= 0.5){
    psi1 = 0;
  }
  else {
    psi1= 3.378 * Press_Volt1 - 0.1689; // calibration equation for pressure sensor
    }
  Kpa1 = psi1/0.14503773800722 ;  
  Kpa1_Ave = average_Kpa1.update(Kpa1);

Press_Volt2= p2 * (5 / 1023.0);
  if (Press_Volt2 <= 0.5){
    psi2 = 0;
  }
  else {
    psi2= 3.378 * Press_Volt2 - 0.1689; // calibration equation for pressure sensor
    }
  Kpa2 = psi2/0.14503773800722 ;  
  Kpa2_Ave = average_Kpa2.update(Kpa2);

  Press_Volt3= p3 * (5 / 1023.0);
  if (Press_Volt3 <= 0.5){
    psi3 = 0;
  }
  else {
    psi3=3.378 * Press_Volt3 - 0.1689; // calibration equation for pressure sensor
    }
  Kpa3 = psi3/0.14503773800722 ;  
  Kpa3_Ave = average_Kpa3.update(Kpa3);

  //to calculate the voltage for LoadCell
  x2 = x1 * (5/ 1023.0);
  gram = 518.63 * x2; // calibration Equation for LSP2

  e1 = (ff_Pdc - Kpa1_Ave);
  e2 = (lf_Pdc - Kpa2_Ave);
  e3 = (th_Pdc - Kpa3_Ave);

  if (e1 >= 0){

   z1 = map(e1, 0, 2.5, 0 , 255);
   digitalWrite(Valve1, HIGH);
  }
   else if (e1 < 0 && e1 > -4){
   digitalWrite(Valve1, HIGH);
   z1=0;
 }

 else if(e1 <= -4) {  
   digitalWrite(Valve1, LOW);
   z1 = 0;  

 }

///////////////////////////////
if (e2 >= 0){

   z2 = map(e2, 0, 2.5, 0 , 255);
   digitalWrite(Valve2, HIGH);
  }
   else if (e2 < 0 && e2 > -4){
   digitalWrite(Valve2, HIGH);
   z2=0;
 }

 else if(e2 <= -4) {  
   digitalWrite(Valve2, LOW);
   z2 = 0;  

 }
//////////////////////////////////////
if (e3 >= 0){

   z3 = map(e3, 0, 2.5, 0 , 255);
   digitalWrite(Valve3, HIGH);
  }
   else if (e3 < 0 && e3 > -4){
   digitalWrite(Valve3, HIGH);
   z3=0;
 }

 else if(e3 <= -4) {  
   digitalWrite(Valve3, LOW);
   z3 = 0;  

 }
 analogWrite(Pump1,z1); // control the Pump through Pin 3
 analogWrite(Pump2,z2);
 analogWrite(Pump3,z3);

v1 = map(ff_Pac1, 0, 2000, 0, 255);
v2 = map(lf_Pac1, 0, 2000, 0, 255);
v3 = map(th_Pac1, 0, 2000, 0, 255);

analogWrite(Buzz1,v1);
analogWrite(Buzz2,v2);
analogWrite(Buzz3,v3);
/////////////////////////////////////////////////
 Error1_msg.data = e1;
 Error2_msg.data = e2;
 Error3_msg.data = e3;

 Pressure1_msg.data = Kpa1_Ave;
 Pressure2_msg.data = Kpa2_Ave;
 Pressure3_msg.data = Kpa3_Ave;

 ffPdcArd_msg.data = ff_Pdc;
 lfPdcArd_msg.data = lf_Pdc;
 thPdcArd_msg.data = th_Pdc;


 Force_msg.data = y;
 LoadCell_msg.data = gram; //* 9.81/1000; 


  pub_Error1.publish( &Error1_msg);
  pub_Error2.publish( &Error2_msg);
  pub_Error3.publish( &Error3_msg);

  pub_Pressure1.publish( &Pressure1_msg); 
  pub_Pressure2.publish( &Pressure2_msg); 
  pub_Pressure3.publish( &Pressure3_msg); 

  pub_ffPdcArd.publish( &ffPdcArd_msg); 
  pub_lfPdcArd.publish( &lfPdcArd_msg); 
  pub_thPdcArd.publish( &thPdcArd_msg); 

  pub_LoadCell.publish( &LoadCell_msg); 
  pub_Force.publish( &Force_msg);
  nh.spinOnce();
} 

I would really appreciate your help.

Thank you so much,

Best,

Moaed