Fix distance remaining crash

EnjoyRobotics · Sep 26, 2023 · afeb26a · afeb26a
1 parent eac9497
commit afeb26a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
@@ -179,7 +179,7 @@ NavigateToPoseNavigator::onLoop()
     }
 
     // Add orientation difference to distance
-    if (current_angular_speed > 0.01) {
+    if (current_angular_speed > 0.01 && current_path.poses.size() > 0) {
       tf2::Quaternion q(
         current_pose.pose.orientation.x,
         current_pose.pose.orientation.y,