[ROS2]Can not run correctly!

[codedetermination]

when I run ros2 launch champ_config bringup.launch.py I got error as below.

[ekf_node-4] [WARN] [1660968669.312630233] [base_to_footprint_ekf]: Warning: Some linear velocity entries in parameter imu0_config are listed true, but an sensor_msgs/Imu contains no information about linear velocities [ekf_node-4] Warning: imu/data is listed as an input topic, but all its update variables are false [ERROR] [quadruped_controller_node-2]: process has died [pid 120311, exit code -6, cmd '/home/guoyi/Desktop/champ/install/champ_base/lib/champ_base/quadruped_controller_node --ros-args --params-file /tmp/launch_params_cr5kdzo6 --params-file /tmp/launch_params_v9pmzpwv --params-file /tmp/launch_params_vdtbyabl --params-file /tmp/launch_params_i17td_iv --params-file /tmp/launch_params_qc8wwtjx --params-file /tmp/launch_params_ct_f6sc9 --params-file /tmp/launch_params_c2u1mhbz -r /cmd_vel/smooth:=/cmd_vel']. [ERROR] [state_estimation_node-3]: process has died [pid 120313, exit code -6, cmd '/home/guoyi/Desktop/champ/install/champ_base/lib/champ_base/state_estimation_node --ros-args --params-file /tmp/launch_params_ehwpmi8d --params-file /tmp/launch_params_lze4i2ht --params-file /tmp/launch_params_rg2wqybb']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [ekf_node-4] [INFO] [1660968754.415631764] [rclcpp]: signal_handler(signal_value=2) [robot_state_publisher-1] [INFO] [1660968754.415633347] [rclcpp]: signal_handler(signal_value=2) [ekf_node-5] [INFO] [1660968754.415633848] [rclcpp]: signal_handler(signal_value=2)