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[nav2_utils] Fix calculate_path_length SEG fault if size is 0 #2310

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Merged
SteveMacenski merged 1 commit into from
Apr 13, 2021
+1 −1
Merged

[nav2_utils] Fix calculate_path_length SEG fault if size is 0 #2310

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2 changes: 1 addition & 1 deletion nav2_util/include/nav2_util/geometry_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,7 @@ inline Iter min_by(Iter begin, Iter end, Getter getCompareVal)
*/
inline double calculate_path_length(const nav_msgs::msg::Path & path, size_t start_index = 0)
{
if (start_index >= path.poses.size() - 1) {
if (start_index + 1 >= path.poses.size()) {
return 0.0;
}
double path_length = 0.0;
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