diff --git a/src/node.cpp b/src/node.cpp
index 4b12ea6b..86c96bbc 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -334,7 +334,12 @@ int main(int argc, char * argv[]) {
                             int angle_value = (int)(angle * angle_compensate_multiple);
                             if ((angle_value - angle_compensate_offset) < 0) angle_compensate_offset = angle_value;
                             for (j = 0; j < angle_compensate_multiple; j++) {
-                                angle_compensate_nodes[angle_value-angle_compensate_offset+j] = nodes[i];
+                                int index = angle_value - angle_compensate_offset + j;
+                                if (index >= angle_compensate_nodes_count) {
+                                        //ROS_WARN("skipping out of range compensate index %d for i %d",index,i);
+                                        continue;
+                                }
+                                angle_compensate_nodes[index] = nodes[i];
                             }
                         }
                     }