Fix zero waypoints crash (ros-navigation#1978)

* return if the number of waypoints is zero. * terminate the action. * Succeed action instead of terminating.
ruffsl · Jul 2, 2021 · aef8b36 · aef8b36
1 parent 02f4149
commit aef8b36
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp
@@ -127,6 +127,11 @@ WaypointFollower::followWaypoints()
     get_logger(), "Received follow waypoint request with %i waypoints.",
     static_cast<int>(goal->poses.size()));
 
+  if (goal->poses.size() == 0) {
+    action_server_->succeeded_current(result);
+    return;
+  }
+
   rclcpp::Rate r(loop_rate_);
   uint32_t goal_index = 0;
   bool new_goal = true;