From 525eeda97adfdb95a9f7c8345ca33131af4280c8 Mon Sep 17 00:00:00 2001
From: Takamasa Horibe <horibe.takamasa@gmail.com>
Date: Thu, 8 Feb 2024 22:19:10 +0900
Subject: [PATCH] fix(control_validator): process died for an empty trajectory

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
---
 control/control_validator/src/control_validator.cpp | 5 +++++
 1 file changed, 5 insertions(+)

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;