From b4a91ed4b12278514059fd123b0e7af411f18774 Mon Sep 17 00:00:00 2001 From: beyzanurkaya <32412808+beyzanurkaya@users.noreply.github.com> Date: Mon, 5 Feb 2024 15:06:23 +0300 Subject: [PATCH] fix(behavior_path_start_planner_module): check if pull_out_path is empty (#6318) check pull_out_path is empty Signed-off-by: beyza Co-authored-by: beyza --- .../src/start_planner_module.cpp | 3 +++ 1 file changed, 3 insertions(+) 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 index 9e42a02b95219..ab555063f1047 100644 --- 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,