Sometime it produces warning "Distance, angle displacement too big, invalid readings from robot." and connection lost for a while

[7675t]

I'm using Roomba622 and turtlebot_create. I sometimes encounter the create_node producing error:

[ERROR] [1537945758.122246]: Failed to contact device with error: [Distance, angle displacement too big, invalid readings from robot. Distance: 12.78, Angle: 8.12]. Please check that the Create is powered on and that the connector is plugged into the Create.
[WARN] [1537945765.860798]: Invalid OI Mode Reported 254

When this error happens while the robot moving, the robot is out of control, update of the sensor (odometry) is stopped for a while, and the mapping program destroys current map. The error is not predictable, and not re-producible as far as I tried. It happens once in a few minutes in average.

I feel strange, because I have never seen this warning when I used Roomba 500 series. It may be hardware issue but I cannot reproduce it with same hardware and Roomba 500.

Does anyone know this problem?

[OrBeProgrammed]

I have hard this error but no negative problem, except losing connection. I'm not sure that I'm losing connection because of this or vice versa. But it's a serious problem as I have to take out the battery to get the robot to reconnect. I can't just turn it off and on again.

[longjie]

Can you try if #40 ease your problem?

[OrBeProgrammed]

I still have my original rpi kinetic board to test this with, however I disconnected it to attempt to upgrade to the rockpro64. I will have to finish this process before I can test again.