From 26c31832c953766724c370e034b14059e2bb0e68 Mon Sep 17 00:00:00 2001 From: Sergi Hernandez Juan <shernand@iri.upc.edu> Date: Mon, 14 Nov 2022 18:25:22 +0100 Subject: [PATCH] Added a check of the path length in the set_plan function. --- src/ackermann_planner_util.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/ackermann_planner_util.cpp b/src/ackermann_planner_util.cpp index 5857485..b2943b4 100644 --- a/src/ackermann_planner_util.cpp +++ b/src/ackermann_planner_util.cpp @@ -103,6 +103,11 @@ bool AckermannPlannerUtil::set_plan(const std::vector<geometry_msgs::PoseStamped ROS_ERROR("AckermannPlannerUtil: planner utils have not been initialized, please call initialize() first"); return false; } + if(orig_global_plan.size()<5) + { + ROS_ERROR("AckermannPlannerUtil: A valid path at least needs 5 points"); + return false; + } ////divide plan by manuveurs subPathList.clear(); subPath.clear(); -- GitLab