From fb278f5b17eff8051637b85ea49aeae81a79192f Mon Sep 17 00:00:00 2001 From: beyza Date: Tue, 2 Apr 2024 15:09:22 +0300 Subject: [PATCH] check trajectory size Signed-off-by: beyza --- .../predicted_path_checker_node.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp index 0cf2548d69746..bba069442bee7 100644 --- a/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp +++ b/control/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp @@ -537,6 +537,10 @@ void PredictedPathCheckerNode::filterObstacles( const Pose & ego_pose, const TrajectoryPoints & traj, const double dist_threshold, const bool use_prediction, PredictedObjects & filtered_objects) { + if (traj.size() < 2) { + RCLCPP_ERROR(rclcpp::get_logger("predicted_path_checker"), "Trajectory size is less than 2."); + return; + } filtered_objects.header.frame_id = object_ptr_.get()->header.frame_id; filtered_objects.header.stamp = this->now();