diff --git a/forward_command_controller/include/forward_command_controller/forward_joint_group_command_controller.h b/forward_command_controller/include/forward_command_controller/forward_joint_group_command_controller.h
index bb69215d3..28e45d6c3 100644
--- a/forward_command_controller/include/forward_command_controller/forward_joint_group_command_controller.h
+++ b/forward_command_controller/include/forward_command_controller/forward_joint_group_command_controller.h
@@ -85,7 +85,11 @@ class ForwardJointGroupCommandController: public controller_interface::Controlle
       return false;
     }
     n_joints_ = joint_names_.size();
-    
+
+    if(n_joints_ == 0){
+      ROS_ERROR_STREAM("List of joint names is empty.");
+      return false;
+    }
     for(unsigned int i=0; i<n_joints_; i++)
     {
       try