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[fix] when sub'num is not equal to the pub, coredump #31

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Merged
wtudio merged 2 commits into from
Apr 27, 2025
Merged

[fix] when sub'num is not equal to the pub, coredump #31

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59527c8
fix: when sub'num is not equal to the pub, coredump
Apr 27, 2025
c71a721
fix
Apr 27, 2025
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20 changes: 18 additions & 2 deletions src/module/mujoco_sim_module/subscriber/joint_actuator_subscriber.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -97,9 +97,17 @@ 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);
joint_num_real = std::min(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];

Expand Down Expand Up @@ -147,9 +155,17 @@ 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);
joint_num_real = std::min(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];

Expand Down