From c6b9ed4c62d57c1874db572c75b1d079173c6c3e Mon Sep 17 00:00:00 2001
From: youliang <tan_you_liang@hotmail.com>
Date: Tue, 18 Jan 2022 11:31:35 +0800
Subject: [PATCH] fix empty itinerary duration

Signed-off-by: youliang <tan_you_liang@hotmail.com>
---
 rmf_task/src/rmf_task/Estimate.cpp | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/rmf_task/src/rmf_task/Estimate.cpp b/rmf_task/src/rmf_task/Estimate.cpp
index 6389c30a..781b5efc 100644
--- a/rmf_task/src/rmf_task/Estimate.cpp
+++ b/rmf_task/src/rmf_task/Estimate.cpp
@@ -157,9 +157,13 @@ class TravelEstimator::Implementation
       battery_drain += dSOC_motion + dSOC_device;
     }
 
-    const auto duration =
-      plan->get_itinerary().back().trajectory().back().time()
-      - itinerary_start_time;
+    auto duration = rmf_traffic::Duration(0);
+    if (!plan->get_itinerary().empty())
+    {
+      duration =
+        plan->get_itinerary().back().trajectory().back().time()
+        - itinerary_start_time;
+    }
 
     return Result::Implementation::make(duration, battery_drain);
   }