From b0bd78818eba7a2e967363a978b236aa646b144e Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 11 Feb 2021 23:38:51 +0100
Subject: [PATCH] Added a check that the index of the best path is valid before
getting the trajectory.
---
src/opendrive_planner.cpp | 2 ++
1 file changed, 2 insertions(+)
diff --git a/src/opendrive_planner.cpp b/src/opendrive_planner.cpp
index 0120635..36ed297 100644
--- a/src/opendrive_planner.cpp
+++ b/src/opendrive_planner.cpp
@@ -271,6 +271,8 @@ bool OpendriveGlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, c
std::cout << std::endl;
}
best_path_index=this->roadmap.get_best_path(best_cost,best_path);
+ if(best_path_index==-1)
+ return false;
std::cout << "best path index: " << best_path_index << std::endl;
for(unsigned int i=0;i<best_path.size();i++)
std::cout << best_path[i] << ",";
--
GitLab