From 4051d3483752e7a11ae11a550ad3f65b027c9d11 Mon Sep 17 00:00:00 2001
From: Malte Roosen <mroosen@uni-koblenz.de>
Date: Wed, 23 Nov 2016 18:39:18 +0000
Subject: [PATCH] fix bug when first target is unreachable
---
homer_navigation/src/homer_navigation_node.cpp | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/homer_navigation/src/homer_navigation_node.cpp b/homer_navigation/src/homer_navigation_node.cpp
index f63498e2..11c740c4 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;
--
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