lost sync with device ...restarting...

edit

#include <ros/ros.h>
#include <std_msgs/UInt16.h>
#include <stdio.h>
#define PI 3.1415926
float d1,d2,d3,d4,theta1,theta2,Theta1,Theta2;
int h=30;


void servoes(){
  theta1=PI/2;
  theta2=PI/2;
  d1=105.0;
  d2=130.0;
  d3=d1*cos(theta1-PI/4)+d2*cos(theta2-theta1+PI/4);
  d4=d3-h;
  Theta2=acos((pow(d1,2)+pow(d2,2)-pow(d3,2))/(2*d1*d2))-acos((pow(d1,2)+pow(d2,2)-pow(d4,2))/(2*d1*d2))+theta2;
  Theta1=atan(d1*sin(Theta2)/(d1+d2*cos(Theta2)));

  }


int main(int argc, char **argv) {
    ros::init(argc, argv, "servo_pub"); 
    ros::NodeHandle n; 
    ros::Publisher my_publisher_object = n.advertise<std_msgs::UInt16>("servo", 1);
    std_msgs::UInt16 msg;
    servoes();
    int  theta3=(Theta1+PI/4)/PI*2000+500;
    int  theta4=Theta2/PI*2000+500;
    ros::Rate loop_rate(10);        
    while (ros::ok()) 
    {
      msg.data =theta3;
      my_publisher_object.publish(msg);
      loop_rate.sleep();
    }
}

here are my code and here are my arduino code

    enter code here
#if (ARDUINO >= 100)
#include <Arduino.h>
#else
#include <WProgram.h>
#endif

#include <Servo.h>
#include<stdio.h>
#include <ros.h>
#include <std_msgs/UInt16.h>
#include<std_msgs/String.h>
int h;


ros::NodeHandle  nh;

void servo_cb( const std_msgs::UInt16& cmd_msg){
  h=cmd_msg.data;
}


ros::Subscriber<std_msgs::UInt16> sub("servo", servo_cb);


void setup(){
  Serial.begin(115200);
  nh.initNode();
  nh.subscribe(sub); 
}

void loop(){
  if(Serial.available()>0)
  {
    Serial.print("#0 P");
    Serial.print(h);
    Serial.println(" T500");
    delay(100);
  }
  nh.spinOnce();
  nh.spinOnce();
  nh.spinOnce();
}

and i run my code,but it tell me : lost sync with device ...restarting...; again and again.I need help please...