fix(pull_out): add empty check (autowarefoundation#5041)

Signed-off-by: tomoya.kimura <[email protected]>
tier4 · Sep 20, 2023 · 75a263c · 75a263c
1 parent 8d0d52a
commit 75a263c
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/...behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp b/...behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp
@@ -282,6 +282,10 @@ bool GeometricParallelParking::planPullOut(
     PathWithLaneId road_center_line_path =
       planner_data_->route_handler->getCenterLinePath(road_lanes, s_start, s_end, true);
 
+    if (road_center_line_path.points.empty()) {
+      continue;
+    }
+
     // check the continuity of straight path and arc path
     const Pose & road_path_first_pose = road_center_line_path.points.front().point.pose;
     const Pose & arc_path_last_pose = arc_paths.back().points.back().point.pose;