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Fix out of bound access of trajectory points #290

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Fix out of bound access of trajectory points #290

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6 changes: 6 additions & 0 deletions industrial_trajectory_filters/src/uniform_sample_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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();

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