perseus_sensors(m2m2_lidar): used strncmp to make intent clearer re R…

…LE decode
ROAR-QUTRC · Dec 22, 2024 · 6206d49 · 6206d49
1 parent 2d5490d
commit 6206d49
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/software/ros_ws/src/perseus_sensors/src/m2m2_lidar/m2m2_lidar.cpp b/software/ros_ws/src/perseus_sensors/src/m2m2_lidar/m2m2_lidar.cpp
@@ -152,9 +152,7 @@ std::vector<std::tuple<float, float, bool>> M2M2Lidar::_decodeLaserPoints(const
     std::vector<uint8_t> decoded = _decodeBase64(base64_encoded);
 
     if (decoded.size() < 9 ||
-        decoded[0] != 'R' ||
-        decoded[1] != 'L' ||
-        decoded[2] != 'E')
+        strncmp(reinterpret_cast<const char*>(decoded.data()), "RLE", 3) != 0)
     {
         RCLCPP_ERROR(this->get_logger(), "Invalid RLE header");
         return points;