From 3027e39d022b60816430974ad36573655ef75fad Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Thu, 9 Jun 2022 22:56:08 +0900
Subject: [PATCH] fix(obstacle_avoidance_planner): empty points handling

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 planning/obstacle_avoidance_planner/src/node.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
index 11dee5effe28b..0102265d534dc 100644
--- a/planning/obstacle_avoidance_planner/src/node.cpp
+++ b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -1105,6 +1105,10 @@ void ObstacleAvoidancePlanner::insertZeroVelocityOutsideDrivableArea(
   std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> & traj_points,
   const CVMaps & cv_maps)
 {
+  if (traj_points.empty()) {
+    return;
+  }
+
   stop_watch_.tic(__func__);
 
   const auto & map_info = cv_maps.map_info;