Added a check that the index of the best path is valid before getting the trajectory.

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] << ",";