From d2997ad9c7005837ee53f0abf73c4ec20576e941 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Sat, 30 May 2026 17:56:42 +0900 Subject: [PATCH] =?UTF-8?q?fix(crane=5Fsender):=20SSL/GrSim=E9=80=81?= =?UTF-8?q?=E4=BF=A1=E3=83=91=E3=82=B9=E3=81=AErobot=5Fstates=5F=E5=A2=83?= =?UTF-8?q?=E7=95=8C=E3=83=81=E3=82=A7=E3=83=83=E3=82=AF=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- crane_sender/src/ibis_sender_node.cpp | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/crane_sender/src/ibis_sender_node.cpp b/crane_sender/src/ibis_sender_node.cpp index a2b4ac3ac..e82779cc2 100644 --- a/crane_sender/src/ibis_sender_node.cpp +++ b/crane_sender/src/ibis_sender_node.cpp @@ -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); @@ -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);