fix(behavior_path_planner): avoid invalid access (#3923)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
autowarefoundation · Jun 8, 2023 · 35f94d0 · 35f94d0
1 parent 00ea28d
commit 35f94d0
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/src/planner_manager.cpp
@@ -127,7 +127,7 @@ BehaviorModuleOutput PlannerManager::run(const std::shared_ptr<PlannerData> & da
 void PlannerManager::generateCombinedDrivableArea(
   BehaviorModuleOutput & output, const std::shared_ptr<PlannerData> & data) const
 {
-  if (output.path->points.empty()) {
+  if (!output.path || output.path->points.empty()) {
     RCLCPP_ERROR_STREAM(logger_, "[generateCombinedDrivableArea] Output path is empty!");
     return;
   }