diff --git a/control/control_validator/src/control_validator.cpp b/control/control_validator/src/control_validator.cpp index ffce38f009a41..03285a284453d 100644 --- a/control/control_validator/src/control_validator.cpp +++ b/control/control_validator/src/control_validator.cpp @@ -121,6 +121,11 @@ bool ControlValidator::isDataReady() void ControlValidator::onReferenceTrajectory(const Trajectory::ConstSharedPtr msg) { + if (msg->points.size() < 2) { + RCLCPP_ERROR(get_logger(), "planning trajectory size is invalid (%lu)", msg->points.size()); + return; + } + current_reference_trajectory_ = msg; return;