Prevent invalid accesses on paths in path_longer_on_approach (#4375)

* Prevent invalid accesses on paths in path_longer_on_approach * Fix format of the change
ros-navigation · May 29, 2024 · 1f26900 · 1f26900
1 parent e8d3cd8
commit 1f26900
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp b/nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp
@@ -63,7 +63,9 @@ inline BT::NodeStatus PathLongerOnApproach::tick()
   getInput("length_factor", length_factor_);
 
   if (first_time_ == false) {
-    if (old_path_.poses.back() != new_path_.poses.back()) {
+    if (old_path_.poses.empty() || new_path_.poses.empty() ||
+      old_path_.poses.back() != new_path_.poses.back())
+    {
       first_time_ = true;
     }
   }