From 75a263c663e8f7f6d1a76c2237e44725076b2f21 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 20 Sep 2023 00:55:37 +0900 Subject: [PATCH] fix(pull_out): add empty check (#5041) Signed-off-by: tomoya.kimura --- .../geometric_parallel_parking/geometric_parallel_parking.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp b/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp index 99d109dd0bece..840597e1ec95d 100644 --- a/planning/behavior_path_planner/src/utils/geometric_parallel_parking/geometric_parallel_parking.cpp +++ b/planning/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;