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david 13f235c682 fix: guard null const char* and out-of-bounds vector access in LOG_INFO calls

cerebellum_hooks.cpp (ConfigureDualArmHooks):
- Pass `action ? action : "unknown"` to LOG_INFO to avoid fmt crash
  when motion_type does not match any known type (null const char*)
- Guard target_joints[0..5] with has_joints check to avoid OOB access
  when the joints vector has fewer than 6 elements

cerebellum_node.cpp (CallInverseKinematics):
- Guard angles[0..5] with has_angles check to avoid OOB access
  if the IK service returns fewer than 6 joint angles

2026-03-04 17:17:57 +08:00

src

fix: guard null const char* and out-of-bounds vector access in LOG_INFO calls

2026-03-04 17:17:57 +08:00

.gitignore

test left arm grasp

2026-01-09 16:57:33 +08:00

LICENSE

Initial commit

2025-09-29 11:51:03 +08:00

README.md

hivecore robot brain

2025-09-29 14:39:20 +08:00

README.md

hivecore_robot_brain

BT安装

  sudo apt-get install -y libzmq3-dev  #有的环境需要安装zmq

  git clone https://github.com/BehaviorTree/BehaviorTree.CPP.git \
  cd BehaviorTree.CPP \
  mkdir build && cd build \
  cmake .. \
  make \
  sudo make install

SMACC2安装

  sudo apt-get install -y liblttng-ust-dev  #有的环境需要安装

  git clone https://github.com/robosoft-ai/SMACC2.git
  colcon build --packages-select smacc2_msgs smacc2

编译

./src/scripts/build.sh

运行

./src/scripts/run.sh