diff --git a/doc/index.rst b/doc/index.rst
index da91429..be26e4e 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -97,10 +97,25 @@ Parameters
   Publish rate. Default: 1000 hz
 
 Documentation
---------
+---------------
 
 `API doc is available <http://docs.ros.org/indigo/api/dynpick_driver/html/>`_ also on `ros.org.<http://wiki.ros.org/dynpick_driver>`_
 
+Troubleshooting
+=====================
+
+1. ``/force`` topic exists but does not publish any data
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+There is a possibility that the conditions are such that serial communication error occurs.
+
+Please try launch options of ``frequency_div:=-1`` and ``acquire_calibration:=false`` 
+for sample.launch or driver.launch as follows.
+
+``$ roslaunch dynpick_driver driver.launch frequency_div:=-1 acquire_calibration:=false``
+
+``$ roslaunch dynpick_driver sample.launch frequency_div:=-1 acquire_calibration:=false``
+
 DEB build status
 ================
 
diff --git a/launch/driver.launch b/launch/driver.launch
index 9e4ebee..7ae00d7 100644
--- a/launch/driver.launch
+++ b/launch/driver.launch
@@ -4,13 +4,14 @@
   <arg name="sensor_frame_id" default="/sensor" />
   <arg name="topic" default="/force" />
   <arg name="frequency_div" default="1" />
+  <arg name="acquire_calibration" default="true"/>
 
   <node pkg="dynpick_driver" name="dynpick_driver_node" type="dynpick_driver_node" >
     <param name="device" value="$(arg device)" />
     <param name="rate" value="$(arg rate)" />
     <param name="frame_id" value="$(arg sensor_frame_id)" />
     <param name="frequency_div" value="$(arg frequency_div)" />
+    <param name="acquire_calibration" value="$(arg acquire_calibration)"/>
     <remap from="/force" to="$(arg topic)" />
-    <param name="acquire_calibration" value="true"/>
   </node>
 </launch>
diff --git a/launch/sample.launch b/launch/sample.launch
index 07fd271..25a0dbb 100644
--- a/launch/sample.launch
+++ b/launch/sample.launch
@@ -5,12 +5,16 @@
   <arg name="run_rviz" default="true" />
   <arg name="rvizconfig" default="$(find dynpick_driver)/launch/sample.rviz" />
   <arg name="topic" default="/force" />
+  <arg name="frequency_div" default="1" />
+  <arg name="acquire_calibration" default="true"/>
 
   <include file="$(find dynpick_driver)/launch/driver.launch">
     <arg name="device" value="$(arg device)" />
     <arg name="rate" value="$(arg rate)" />
     <arg name="sensor_frame_id" value="$(arg sensor_frame_id)" />
     <arg name="topic" value="$(arg topic)" />
+    <arg name="frequency_div" value="$(arg frequency_div)" />
+    <arg name="acquire_calibration" value="$(arg acquire_calibration)"/>
   </include>
 
   <node pkg="rviz" type="rviz" name="rviz" args="-d $(arg rvizconfig)"