fix(obstacle_avoidance_planner): add guard for empty points array to …

…prevent dying (autowarefoundation#2557) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
sujithvemi · Dec 26, 2022 · 773ef53 · 773ef53
1 parent 8f6ae1b
commit 773ef53
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/planning/obstacle_avoidance_planner/src/eb_path_optimizer.cpp b/planning/obstacle_avoidance_planner/src/eb_path_optimizer.cpp
@@ -154,6 +154,9 @@ EBPathOptimizer::getOptimizedTrajectory(
       interpolated_points = std::vector<geometry_msgs::msg::Point>(
         interpolated_points.begin(),
         interpolated_points.begin() + interpolated_points_end_seg_idx.get());
+      if (interpolated_points.empty()) {
+        return boost::none;
+      }
     }
   }