No data from controller, but still moves motor

[KorechiMingjie]

I am using HBLG2360 for two brushless motors. It is connected to a Ubuntu 20 computer via usb.

The code runs without showing any error, but sometimes when motor starts spinning, this driver node stops publishing data, e.g. /motor_speed, /motor_amps or /read.

But I can still publish to cmdvel to move the motors.
Stopping cmdvel or restarting the node don't get it back to normal.

Our current way to get it back to normal is by cut and reconnect the power for the controller.

Did anyone experience similar problem? Any suggestion or advice is appreciated.

Btw, is there any method in code to restart the controller device? Thanks.