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fix(crane_sender): SSL/GrSim送信パスのrobot_states_境界チェック追加 #1384

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fix(crane_sender): SSL/GrSim送信パスのrobot_states_境界チェック追加 #1384

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12 changes: 12 additions & 0 deletions crane_sender/src/ibis_sender_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -378,6 +378,12 @@ class IbisSenderNode : public SenderBase

robocup_ssl::RobotControl packet;
for (const auto & command : msg.robot_commands) {
if (command.robot_id >= CommConfig::AI_CMD_V2_ROBOT_NUM) {
RCLCPP_WARN_THROTTLE(
get_logger(), *get_clock(), 1000, "robot_id %u is out of range (>= %d); skipping command",
command.robot_id, CommConfig::AI_CMD_V2_ROBOT_NUM);
continue;
}
auto cmd = packet.add_robot_commands();
cmd->set_id(command.robot_id);

Expand Down Expand Up @@ -411,6 +417,12 @@ class IbisSenderNode : public SenderBase
commands->set_timestamp(0.0);

for (const auto & command : msg.robot_commands) {
if (command.robot_id >= CommConfig::AI_CMD_V2_ROBOT_NUM) {
RCLCPP_WARN_THROTTLE(
get_logger(), *get_clock(), 1000, "robot_id %u is out of range (>= %d); skipping command",
command.robot_id, CommConfig::AI_CMD_V2_ROBOT_NUM);
continue;
}
auto * robot_cmd = commands->add_robot_commands();
robot_cmd->set_id(command.robot_id);

Expand Down
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