From 9e5d81b5f00ec0b8f99ac16e67da533bd7359467 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 28 Feb 2023 17:06:06 +0900
Subject: [PATCH] fix(obstacle_avoidance_planner): guard trajectory size (#292)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 planning/obstacle_avoidance_planner/src/node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
index d3f26893b4241..eb75fcbee9006 100644
--- a/planning/obstacle_avoidance_planner/src/node.cpp
+++ b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -1412,7 +1412,7 @@ ObstacleAvoidancePlanner::alignVelocity(
     -> std::pair<
       std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint>, boost::optional<size_t>> {
     const auto opt_path_zero_vel_idx = tier4_autoware_utils::searchZeroVelocityIndex(path_points);
-    if (opt_path_zero_vel_idx) {
+    if (opt_path_zero_vel_idx && 1 < fine_traj_points.size()) {
       const auto & zero_vel_path_point = path_points.at(opt_path_zero_vel_idx.get());
       const auto opt_traj_seg_idx = tier4_autoware_utils::findNearestSegmentIndex(
         fine_traj_points, zero_vel_path_point.pose, std::numeric_limits<double>::max(),