If I post a message, the ESP32 will crash

[wandao00]

Hello, I recently had a problem where when I post my message my esp32 crashes (arduino) and when I remove the publish message code the problem is solved.
pub.publish(&laser_msg);（this is code）
（This is the phenomenon of rushing）

[INFO] [1699236329.312304]: ROS Serial Python Node
[INFO] [1699236329.319116]: Fork_server is: False
[INFO] [1699236329.321276]: Waiting for socket connections on port 11411
[INFO] [1699236329.322986]: Waiting for socket connection
[INFO] [1699236329.344440]: Established a socket connection from 192.168.148.113 on port 53141
[INFO] [1699236329.346280]: calling startSerialClient
[INFO] [1699236331.452127]: Requesting topics...
[INFO] [1699236331.602897]: Note: publish buffer size is 2048 bytes
[INFO] [1699236331.604556]: Setup publisher on laser_scan [sensor_msgs/LaserScan]
[ERROR] [1699236346.579466]: Lost sync with device, restarting...
[INFO] [1699236346.581656]: Requesting topics...
[WARN] [1699236346.628828]: Last read step: data checksum
[WARN] [1699236346.630709]: Run loop error: [Errno 104] Connection reset by peer
[INFO] [1699236346.632325]: Client has exited, closing socket.
[INFO] [1699236346.633669]: Shutting down
[INFO] [1699236346.635329]: All done
Traceback (most recent call last):
File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 475, in run
if self.port.inWaiting() < 1:
File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 312, in inWaiting
chunk = self.socket.recv(1, socket.MSG_DONTWAIT|socket.MSG_PEEK)
ConnectionResetError: [Errno 104] Connection reset by peer

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/home/wandao/catkin_ws/devel/lib/rosserial_python/serial_node.py", line 15, in
exec(compile(fh.read(), python_script, 'exec'), context)
File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/nodes/serial_node.py", line 80, in
server.listen()
File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 255, in listen
self.startSerialClient()
File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 261, in startSerialClient
client.run()
File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 555, in run
self.port.flushOutput()
AttributeError: 'RosSerialServer' object has no attribute 'flushOutput'
[INFO] [1699236346.642929]: Sending tx stop request
[INFO] [1699236346.644427]: shutdown hook activated
Exception in thread Thread-6:
Traceback (most recent call last):
File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner
self.run()
File "/usr/lib/python3.8/threading.py", line 870, in run
self._target(*self._args, **self._kwargs)
File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 788, in processWriteQueue
self._write(data)
File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 749, in _write
self.port.write(data)
File "/home/wandao/catkin_ws/src/rosserial/rosserial_python/src/rosserial_python/SerialClient.py", line 294, in write
totalsent += self.socket.send(data[totalsent:])
OSError: [Errno 9] Bad file descriptor
（Here's a ros tip）
Forgive my English，thanks（谢谢）！

[wandao00]

I've also noticed that when I set up rangs and intensities, the same crashes
laser_msg.ranges_length = 10; laser_msg.intensities_length = 10;