fix(behavior_path_start_planner_module): check if pull_out_path is em…

…pty (autowarefoundation#6318) check pull_out_path is empty Signed-off-by: beyza <[email protected]> Co-authored-by: beyza <[email protected]>
StepTurtle · Feb 5, 2024 · b9c0a6d · b9c0a6d
1 parent 7e77488
commit b9c0a6d
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -1202,6 +1202,9 @@ bool StartPlannerModule::isSafePath() const
   // TODO(Sugahara): should safety check for backward path
 
   const auto pull_out_path = getCurrentPath();
+  if (pull_out_path.points.empty()) {
+    return false;
+  }
   const auto & current_pose = planner_data_->self_odometry->pose.pose;
   const double current_velocity = std::hypot(
     planner_data_->self_odometry->twist.twist.linear.x,