bug: do error handling

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
autowarefoundation · Mar 6, 2025 · 8093a99 · 8093a99
1 parent 2e286d9
commit 8093a99
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/planning/autoware_path_generator/src/node.cpp b/planning/autoware_path_generator/src/node.cpp
@@ -289,6 +289,13 @@ std::optional<PathWithLaneId> PathGenerator::generate_path(
   const lanelet::LaneletSequence & lanelet_sequence, const double s_start, const double s_end,
   const Params & params) const
 {
+
+  // Sanity check
+  if (s_start > s_end) {
+    RCLCPP_ERROR(get_logger(), "s_start must not be greater than s_end: Provided s_start = %f, s_end = %f. Skipping path generation.", s_start, s_end);
+    return std::nullopt;
+  }
+
   std::vector<PathPointWithLaneId> path_points_with_lane_id{};
 
   const auto add_path_point = [&](const auto & path_point, const lanelet::ConstLanelet & lanelet) {