From f7122d8fa59b61965694d5b3252065c7151fea95 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 15 Nov 2022 14:48:53 +0100
Subject: [PATCH] Checked if the path is empty when checking if the goal has
been reached.
---
src/ackermann_planner_ros.cpp | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/src/ackermann_planner_ros.cpp b/src/ackermann_planner_ros.cpp
index 35ddf58..06351f9 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())
{
--
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