diff --git a/homer_navigation/src/homer_navigation_node.cpp b/homer_navigation/src/homer_navigation_node.cpp
index f63498e2437e0fd28ee6e354c631e856eb646b68..11c740c466160dd8f730a57d9e4aaab8a6f6947c 100644
--- a/homer_navigation/src/homer_navigation_node.cpp
+++ b/homer_navigation/src/homer_navigation_node.cpp
@@ -418,6 +418,11 @@ void HomerNavigationNode::performNextMove() {
       targetPositionReached();
       return;
     }
+    if (m_waypoints.size() == 0) {
+      ROS_WARN_STREAM(
+          "No waypoints but trying to perform next move! Skipping.");
+      return;
+    }
     // if we have accidentaly skipped waypoints, recalculate path
     float minDistance = FLT_MAX;
     float distance;