Fix Segmentation fault at velocity_set by asynchronous base_waypoints…

… and closest_waypoint (#2152) (#2272) Signed-off-by: Kenji Funaoka <kfunaoka@gmail.com>
autowarefoundation · May 21, 2019 · 2ca4f89 · 2ca4f89
1 parent ee08fad
commit 2ca4f89
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp b/...src/computing/planning/motion/packages/waypoint_planner/src/velocity_set/velocity_set.cpp
@@ -580,7 +580,7 @@ int main(int argc, char** argv)
     if (crosswalk.loaded_all && !crosswalk.set_points)
       crosswalk.setCrossWalkPoints();
 
-    if (!vs_info.getSetPose() || !vs_path.getSetPath())
+    if (!vs_info.getSetPose() || !vs_path.getSetPath() || vs_path.getPrevWaypointsSize() == 0)
     {
       loop_rate.sleep();
       continue;