Merge pull request autowarefoundation#72 from tier4/chore/cherry-pick…

…-bug-fixes Chore/cherry pick bug fixes
TomohitoAndo · Jun 23, 2022 · f2fffee · f2fffee
2 parents c29682f + 640deb3
commit f2fffee
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diff --git a/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp b/planning/obstacle_avoidance_planner/src/mpt_optimizer.cpp
@@ -377,6 +377,9 @@ std::vector<ReferencePoint> MPTOptimizer::getReferencePoints(
       traj_param_.num_sampling_points * mpt_param_.delta_arc_length_for_mpt_points +
       tmp_ref_points_margin;
     ref_points = points_utils::clipForwardPoints(ref_points, 0, ref_length_with_margin);
+    if (ref_points.empty()) {
+      return std::vector<ReferencePoint>{};
+    }
 
     // set bounds information
     calcBounds(ref_points, enable_avoidance, maps, prev_trajs, debug_data_ptr);

diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -1114,6 +1114,10 @@ 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;