From 208bd92efd507cf15d67dcdea0c5e99bc5d16b3e Mon Sep 17 00:00:00 2001
From: Captain Yoshi <captain.yoshisaur@gmail.com>
Date: Thu, 21 Sep 2023 13:41:20 -0400
Subject: [PATCH] [fix] out of bound access of trajectory points

The filter needs at least 2 samples to interpolate the input trajectory.
---
 industrial_trajectory_filters/src/uniform_sample_filter.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/industrial_trajectory_filters/src/uniform_sample_filter.cpp b/industrial_trajectory_filters/src/uniform_sample_filter.cpp
index e598f433..2f7a9934 100644
--- a/industrial_trajectory_filters/src/uniform_sample_filter.cpp
+++ b/industrial_trajectory_filters/src/uniform_sample_filter.cpp
@@ -77,6 +77,12 @@ template<typename T>
 
     trajectory_out = trajectory_in;
 
+    if(size_in <= 1)
+    {
+      ROS_WARN("A minimal trajectory of 2 points is required to apply a uniform sampling filter");
+      return false;
+    }
+
     // Clear out the trajectory points
     trajectory_out.request.trajectory.points.clear();