feat(bpp-interface): add empty path validation (#6868)

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Apr 23, 2024 · 702b183 · 702b183
1 parent 5b1b776
commit 702b183
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/..._planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp b/..._planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp
@@ -141,7 +141,13 @@ class SceneModuleInterface
   virtual BehaviorModuleOutput run()
   {
     updateData();
-    return isWaitingApproval() ? planWaitingApproval() : plan();
+    const auto output = isWaitingApproval() ? planWaitingApproval() : plan();
+    try {
+      motion_utils::validateNonEmpty(output.path.points);
+    } catch (const std::exception & ex) {
+      throw std::invalid_argument("[" + name_ + "]" + ex.what());
+    }
+    return output;
   }
 
   /**