fix(predicted_path_checker): check if trajectory size (#6730)

check trajectory size Signed-off-by: beyza <[email protected]> Co-authored-by: beyza <[email protected]>
autowarefoundation · Apr 2, 2024 · 5617f74 · 5617f74
1 parent 1aa5bb9
commit 5617f74
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/...ol/predicted_path_checker/src/predicted_path_checker_node/predicted_path_checker_node.cpp b/...ol/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();