问题求助,speech sdk auth failed

下载了Linux版本的speech sdk后,按照官网的教程去修改配置、编译demo,当手动执行./demo_tts "文本信息"时报错,如下打印:
rokid.Connection.tts/I [2019-04-16 12:16:27.830455] uws connected, 0x7f5fa401dd20
rokid.Connection.tts/W [2019-04-16 12:16:27.915776] auth failed, result = 1
rokid.Connection.tts/I [2019-04-16 12:16:27.915812] uws disconnected, code 1000, msg length 0, stage 2
rokid.Connection.tts/I [2019-04-16 12:16:37.637665] send: connection not available
speech.tts/W [2019-04-16 12:16:37.637714] do_request: (1) send req failed 2, set op error
speak 1 error: 101

请大家帮忙看一下是怎么回事呢?