From 59527c8ba4a8e1c95006c03d23e599a2235e68c8 Mon Sep 17 00:00:00 2001
From: hanjun <hanjun@agibot.com>
Date: Sun, 27 Apr 2025 16:57:04 +0800
Subject: [PATCH 1/2] fix: when sub'num is not equal to the pub, coredump

---
 .../subscriber/joint_actuator_subscriber.cc    | 18 ++++++++++++++++--
 1 file changed, 16 insertions(+), 2 deletions(-)

diff --git a/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc b/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc
index 578f89e..c35d543 100644
--- a/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc
+++ b/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc
@@ -97,9 +97,16 @@ void JointActuatorSubscriber::EventHandle(const std::shared_ptr<const aimrt::pro
   if (stop_flag_) [[unlikely]]
     return;
 
+  size_t joint_num_real = commands->joints_size();
+
+  if (joint_num_ != joint_num_real) [[unlikely]] {
+    AIMRT_WARN("The number of joints (topci: {}, expected: {}, actual: {}) in the options and the received message are different.",
+               subscriber_.GetTopic(), joint_num_, joint_num_real);
+  }
+
   auto* new_command_array = new double[joint_num_];
 
-  for (size_t ii = 0; ii < joint_num_; ++ii) {
+  for (size_t ii = 0; ii < joint_num_real; ++ii) {
     const auto& joint_options = options_.joints[ii];
     const auto& command = commands->joints()[ii];
 
@@ -147,9 +154,16 @@ void JointActuatorRos2Subscriber::EventHandle(const std::shared_ptr<const aimrt_
   if (stop_flag_) [[unlikely]]
     return;
 
+  size_t joint_num_real = commands->joints.size();
+
+  if (joint_num_ != joint_num_real) [[unlikely]] {
+    AIMRT_WARN("The number of joints (topci: {}, expected: {}, actual: {}) in the options and the received message are different.",
+               subscriber_.GetTopic(), joint_num_, joint_num_real);
+  }
+
   auto* new_command_array = new double[joint_num_];
 
-  for (size_t ii = 0; ii < joint_num_; ++ii) {
+  for (size_t ii = 0; ii < joint_num_real; ++ii) {
     const auto& joint_options = options_.joints[ii];
     const auto command = commands->joints[ii];
 

From c71a721471e5f606cc31e5827be87d29b7103260 Mon Sep 17 00:00:00 2001
From: hanjun <hanjun@agibot.com>
Date: Sun, 27 Apr 2025 17:03:38 +0800
Subject: [PATCH 2/2] fix

---
 .../mujoco_sim_module/subscriber/joint_actuator_subscriber.cc   | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc b/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc
index c35d543..1bb96f3 100644
--- a/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc
+++ b/src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc
@@ -102,6 +102,7 @@ void JointActuatorSubscriber::EventHandle(const std::shared_ptr<const aimrt::pro
   if (joint_num_ != joint_num_real) [[unlikely]] {
     AIMRT_WARN("The number of joints (topci: {}, expected: {}, actual: {}) in the options and the received message are different.",
                subscriber_.GetTopic(), joint_num_, joint_num_real);
+    joint_num_real = std::min(joint_num_, joint_num_real);
   }
 
   auto* new_command_array = new double[joint_num_];
@@ -159,6 +160,7 @@ void JointActuatorRos2Subscriber::EventHandle(const std::shared_ptr<const aimrt_
   if (joint_num_ != joint_num_real) [[unlikely]] {
     AIMRT_WARN("The number of joints (topci: {}, expected: {}, actual: {}) in the options and the received message are different.",
                subscriber_.GetTopic(), joint_num_, joint_num_real);
+    joint_num_real = std::min(joint_num_, joint_num_real);
   }
 
   auto* new_command_array = new double[joint_num_];