I am experiencing few issues with the realsense camera D345i and respeaker Mic array 2.0.The problem is while i run the bringup "roslaunch turtlebot3bringup turtlebot3robot.launch".I have attached it below.i am using ROS melodic.Thank you in advance.

process[turtlebot3_core-1]: started with pid [8983]
process[turtlebot3_lds-2]: started with pid [8984]
process[camera/realsense2_camera_manager-3]: started with pid [8985]
process[camera/realsense2_camera-4]: started with pid [8989]
process[respeaker_node-5]: started with pid [8990]
process[static_transformer-6]: started with pid [8992]
process[speech_to_text-7]: started with pid [8996]
process[turtlebot3_diagnostics-8]: started with pid [8997]
[ INFO] [1632811559.276966637]: Initializing nodelet with 8 worker threads.
Traceback (most recent call last):
  File "/home/aimotion/catkin_ws/src/respeaker_ros/scripts/speech_to_text.py", line 11, in <module>
    from sound_play.msg import SoundRequest, SoundRequestAction, SoundRequestGoal
ImportError: No module named sound_play.msg
[INFO] [1632811559.812617]: ROS Serial Python Node
[INFO] [1632811559.852814]: Connecting to /dev/ttyACM0 at 115200 baud
[ INFO] [1632811559.895598678]: RealSense ROS v2.3.1
[ INFO] [1632811559.895730685]: Built with LibRealSense v2.48.0
[ INFO] [1632811559.895811457]: Running with LibRealSense v2.48.0
[speech_to_text-7] process has died [pid 8996, exit code 1, cmd /home/aimotion/catkin_ws/src/respeaker_ros/scripts/speech_to_text.py audio:=speech_audio __name:=speech_to_text __log:=/home/aimotion/.ros/log/cb826672-2025-11ec-b7bc-0800270c8c35/speech_to_text-7.log].
log file: /home/aimotion/.ros/log/cb826672-2025-11ec-b7bc-0800270c8c35/speech_to_text-7*.log
[ INFO] [1632811560.061367388]:  
 28/09 08:46:00,158 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
[ INFO] [1632811560.327974584]: Device with serial number 045322073596 was found.

[ INFO] [1632811560.328125984]: Device with physical ID 1-4.3-7 was found.
[ INFO] [1632811560.328207908]: Device with name Intel RealSense D435I was found.
[ INFO] [1632811560.329528326]: Device with port number 1-4.3 was found.
[ INFO] [1632811560.329638156]: Device USB type: 2.1
[ WARN] [1632811560.329735056]: Device 045322073596 is connected using a 2.1 port. Reduced performance is expected.
[ INFO] [1632811560.347403364]: getParameters...
[INFO] [1632811561.093948]: Initializing Respeaker device
[ INFO] [1632811561.241350398]: setupDevice...
[ INFO] [1632811561.241479684]: JSON file is not provided
[ INFO] [1632811561.241538919]: ROS Node Namespace: camera
[ INFO] [1632811561.241711888]: Device Name: Intel RealSense D435I
[ INFO] [1632811561.241837174]: Device Serial No: 045322073596
[ INFO] [1632811561.241954780]: Device physical port: 1-4.3-7
[ INFO] [1632811561.242030848]: Device FW version: 05.12.14.50
[ INFO] [1632811561.242071586]: Device Product ID: 0x0B3A
[ INFO] [1632811561.242203432]: Enable PointCloud: Off
[ INFO] [1632811561.242293069]: Align Depth: Off
[ INFO] [1632811561.242434548]: Sync Mode: Off
[ INFO] [1632811561.242599996]: Device Sensors: 
[ INFO] [1632811561.263460784]: Stereo Module was found.
[ INFO] [1632811561.278911317]: RGB Camera was found.
[ INFO] [1632811561.279590711]: Motion Module was found.
[ INFO] [1632811561.279702525]: (Confidence, 0) sensor isn't supported by current device! -- Skipping...
[ INFO] [1632811561.279769472]: num_filters: 0
[ INFO] [1632811561.279821315]: Setting Dynamic reconfig parameters.
 28/09 08:46:01,874 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
[INFO] [1632811561.981028]: Requesting topics...
[ WARN] [1632811562.011078351]: Param '/camera/stereo_module/auto_exposure_limit' has value 0 that is not in range [1, 165000]. Removing this parameter from dynamic reconfigure options.
[INFO] [1632811562.029032]: Note: publish buffer size is 1024 bytes
[ WARN] [1632811562.029282142]: Param '/camera/stereo_module/auto_gain_limit' has value 0 that is not in range [16, 248]. Removing this parameter from dynamic reconfigure options.
[INFO] [1632811562.044669]: Setup publisher on sensor_state [turtlebot3_msgs/SensorState]
[INFO] [1632811562.074225]: Setup publisher on firmware_version [turtlebot3_msgs/VersionInfo]
[INFO] [1632811562.233883]: Setup publisher on imu [sensor_msgs/Imu]
[INFO] [1632811562.273140]: Setup publisher on cmd_vel_rc100 [geometry_msgs/Twist]
[INFO] [1632811562.339093]: Setup publisher on odom [nav_msgs/Odometry]
[INFO] [1632811562.396991]: Setup publisher on joint_states [sensor_msgs/JointState]
[INFO] [1632811562.438511]: Setup publisher on battery_state [sensor_msgs/BatteryState]
[INFO] [1632811562.463010]: Setup publisher on magnetic_field [sensor_msgs/MagneticField]
[ INFO] [1632811562.482245191]: Done Setting Dynamic reconfig parameters.
[ INFO] [1632811562.486225166]: depth stream is enabled - width: 640, height: 480, fps: 15, Format: Z16
[ INFO] [1632811562.488522785]: color stream is enabled - width: 640, height: 480, fps: 15, Format: RGB8
[ INFO] [1632811562.488949750]: setupPublishers...
[ INFO] [1632811562.527267699]: Expected frequency for depth = 15.00000
[ INFO] [1632811562.568647402]: Expected frequency for color = 15.00000
[ INFO] [1632811562.603594110]: setupStreams...
[ INFO] [1632811562.616150419]: insert Depth to Stereo Module
[ INFO] [1632811562.616605257]: insert Color to RGB Camera
 28/09 08:46:02,638 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:02,689 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[ INFO] [1632811562.740413020]: SELECTED BASE:Depth, 0
[ INFO] [1632811562.840914401]: RealSense Node Is Up!
 28/09 08:46:02,890 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 300, error: No data available, number: 3d
[ WARN] [1632811562.913223843]: 
 28/09 08:46:02,941 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:02,992 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:03,042 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:03,093 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:03,193 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:03,244 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:03,295 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:03,346 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[INFO] [1632811563.369071]: Setup publisher on /tf [tf/tfMessage]
 28/09 08:46:03,397 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[INFO] [1632811563.414106]: Note: subscribe buffer size is 1024 bytes
[INFO] [1632811563.421344]: Setup subscriber on cmd_vel [geometry_msgs/Twist]
[INFO] [1632811563.453393]: Setup subscriber on sound [turtlebot3_msgs/Sound]
[INFO] [1632811563.502203]: Setup subscriber on motor_power [std_msgs/Bool]
[INFO] [1632811563.525437]: Setup subscriber on reset [std_msgs/Empty]
 28/09 08:46:03,549 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:03,600 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:03,753 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:03,804 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:03,957 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:04,008 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:04,160 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:46:04,211 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[INFO] [1632811565.095984]: Setup TF on Odometry [odom]
[INFO] [1632811565.107545]: Setup TF on IMU [imu_link]
[INFO] [1632811565.117370]: Setup TF on MagneticField [mag_link]
[INFO] [1632811565.130508]: Setup TF on JointState [base_link]
[INFO] [1632811565.152886]: --------------------------
[INFO] [1632811565.163195]: Connected to OpenCR board!
[INFO] [1632811565.174691]: This core(v1.2.2) is compatible with TB3 Waffle or Waffle Pi
[INFO] [1632811565.185693]: --------------------------
[INFO] [1632811565.197586]: Start Calibration of Gyro
[INFO] [1632811567.659091]: Calibration End
 28/09 08:46:08,879 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[INFO] [1632811571.245070]: Respeaker device initialized (Version: 16)
[WARN] [1632811573.684912]: Failed to find respeaker device by name. Using default input
[WARN] [1632811573.708036]: 32 channel is found for respeaker
[WARN] [1632811573.735453]: You may have to update firmware.
[INFO] [1632811573.742577]: Using channels [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31]
[INFO] [1632811578.531718]: Speech detected for 2.152 seconds
[INFO] [1632811588.131855]: Speech detected for 2.664 seconds
[INFO] [1632811602.323914]: Speech detected for 2.152 seconds
 28/09 08:47:23,055 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
 28/09 08:47:34,123 WARNING [546719125888] (messenger-libusb.cpp:42) control_transfer returned error, index: 768, error: No data available, number: 61
[INFO] [1632811658.020618]: Speech detected for 1.896 seconds