From 7487d10dbe6ce1059978c563eeda979c5b8ee9af Mon Sep 17 00:00:00 2001
From: ijnek <kenjibrameld@gmail.com>
Date: Mon, 30 Oct 2023 02:49:43 +0000
Subject: [PATCH] Don't process JointPositions and JointStiffnesses message if
 message is invalid. This prevents segmentation faults.

(cherry picked from commit b3a8180741c5a873e82dbfb5c3b78830415a17a5)
---
 src/msgpack_packer.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/msgpack_packer.cpp b/src/msgpack_packer.cpp
index dae6b7e..42f19ce 100644
--- a/src/msgpack_packer.cpp
+++ b/src/msgpack_packer.cpp
@@ -56,6 +56,7 @@ void MsgpackPacker::setJointPositions(
       "Angles and Indexes vector must have the same length. "
       "Angles vector has length %zu, while indexes vector has length %zu",
       jointPositions.positions.size(), jointPositions.indexes.size());
+    return;
   }
 
   for (unsigned i = 0; i < jointPositions.indexes.size(); ++i) {
@@ -76,6 +77,7 @@ void MsgpackPacker::setJointStiffnesses(
       "Stiffnesses and Indexes vector must have the same length. "
       "Stiffnesses vector has length %zu, while indexes vector has length %zu",
       jointStiffnesses.stiffnesses.size(), jointStiffnesses.indexes.size());
+    return;
   }
 
   for (unsigned i = 0; i < jointStiffnesses.indexes.size(); ++i) {