diff --git a/src/ackermann_planner_ros.cpp b/src/ackermann_planner_ros.cpp
index 35ddf584283952b5014336adbb00862b7866edec..06351f95b2cd8ff7f43a0cde703ee8b96cd87df4 100644
--- a/src/ackermann_planner_ros.cpp
+++ b/src/ackermann_planner_ros.cpp
@@ -255,6 +255,12 @@ bool AckermannPlannerROS::isGoalReached(void)
     ROS_ERROR("AckermannPlannerROS: could not get local plan");
     return false;
   }
+  if(transformed_plan.empty()) 
+  {
+    ROS_WARN_NAMED("AckermannPlannerROS", "Received an empty transformed plan.");
+    return false;
+  }
+ 
   odom_helper_.get_odom(odom);
   if(planner_util_.last_path())
   {