From 8b5419e527980e4b6a2a2a6e2b57e106994511d9 Mon Sep 17 00:00:00 2001
From: badai-nguyen <dai.nguyen@tier4.jp>
Date: Thu, 9 May 2024 20:24:55 +0900
Subject: [PATCH] fix: indices max

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../ground_segmentation/src/ray_ground_filter_nodelet.cpp     | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
index ae2ad224cf46c..3add6f2203c5b 100644
--- a/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
+++ b/perception/ground_segmentation/src/ray_ground_filter_nodelet.cpp
@@ -280,6 +280,10 @@ void RayGroundFilterComponent::ExtractPointsIndices(
   size_t no_ground_count = 0;
   std::vector<bool> is_ground_idx(in_cloud_ptr->width, false);
   for (const auto & idx : in_indices.indices) {
+    if(std::size_t(idx) >= is_ground_idx.size())
+    { 
+      continue;
+    }
     is_ground_idx[idx] = true;
   }
   for (size_t i = 0; i < is_ground_idx.size(); ++i) {