From 773ef53ea7d654c8a08dcb78c237ad3ccee0b4ee Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Mon, 26 Dec 2022 11:37:03 +0900
Subject: [PATCH] fix(obstacle_avoidance_planner): add guard for empty points
 array to prevent dying (#2557)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 planning/obstacle_avoidance_planner/src/eb_path_optimizer.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/planning/obstacle_avoidance_planner/src/eb_path_optimizer.cpp b/planning/obstacle_avoidance_planner/src/eb_path_optimizer.cpp
index 3225fc415e597..d26180f604e88 100644
--- a/planning/obstacle_avoidance_planner/src/eb_path_optimizer.cpp
+++ b/planning/obstacle_avoidance_planner/src/eb_path_optimizer.cpp
@@ -154,6 +154,9 @@ EBPathOptimizer::getOptimizedTrajectory(
       interpolated_points = std::vector<geometry_msgs::msg::Point>(
         interpolated_points.begin(),
         interpolated_points.begin() + interpolated_points_end_seg_idx.get());
+      if (interpolated_points.empty()) {
+        return boost::none;
+      }
     }
   }