Rosserial arduino - wrong checksum and mismatched protocol errors

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Hi everyone.

My arduino uno is publishing std_msgs/Int16 messages over two topics, one for each wheels encoder ticks. It connects to rosserial on a raspberry pi 4 and data is published just fine, but I see errors/warnings that sometimes interrupt the data. These include:

[INFO] [1597354299.800672]: wrong checksum for topic id and msg

[ERROR] [1597354307.941502]: Mismatched protocol version in packet ('\x00'): lost sync or rosserial_python is from different ros release than the rosserial client

Occasionally, it also looses sync with the arduino:

[ERROR] [1597353144.897853]: Lost sync with device, restarting...

Here is my arduino code:

#include <RedBot.h>
#include <ros.h>
#include <std_msgs/Int16.h>

//ROS
ros::NodeHandle node;
std_msgs::Int16 lWheelMsg;
std_msgs::Int16 rWheelMsg;
ros::Publisher lWheelPub("/lwheel", &lWheelMsg);
ros::Publisher rWheelPub("/rwheel", &rWheelMsg);

//Encoder
const int LEFT_ENCODER_PIN = 9;
const int RIGHT_ENCODER_PIN = 10;
RedBotEncoder encoder = RedBotEncoder(LEFT_ENCODER_PIN, RIGHT_ENCODER_PIN);//left, right
int countsPerRev = 192;   // 4 pairs of N-S x 48:1 gearbox = 192 ticks per wheel rev
int16_t lWheelTicks = 0;
int16_t rWheelTicks = 0;

void setup()
{
  //initialize ros
  node.initNode();
  node.advertise(lWheelPub);
  node.advertise(rWheelPub);

  //reset encoders
  encoder.clearEnc(BOTH);

}

void loop() 
{

  //send encoder data over ROS
  lWheelTicks = encoder.getTicks(LEFT);
  rWheelTicks = encoder.getTicks(RIGHT);
  lWheelMsg.data = lWheelTicks;
  rWheelMsg.data = rWheelTicks;
  lWheelPub.publish(&lWheelMsg);
  rWheelPub.publish(&rWheelMsg);

  node.spinOnce();
  delay(200);
}

Any idea what could be causing this? Thanks!