check nullptr in smoothPlan() (ros-navigation#4544)

* check nullptr in smoothPlan() Signed-off-by: GoesM <goesm@buaa.edu.cn> * code-style Signed-off-by: GoesM <goesm@buaa.edu.cn> * code-style Signed-off-by: GoesM <goesm@buaa.edu.cn> * simple change Signed-off-by: GoesM <goesm@buaa.edu.cn> --------- Signed-off-by: GoesM <goesm@buaa.edu.cn> Co-authored-by: GoesM <goesm@buaa.edu.cn>
ljaniec · Jul 19, 2024 · a7c5b71 · a7c5b71
1 parent b19cb4d
commit a7c5b71
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/nav2_smoother/src/nav2_smoother.cpp b/nav2_smoother/src/nav2_smoother.cpp
@@ -265,7 +265,12 @@ void SmootherServer::smoothPlan()
 
   auto result = std::make_shared<Action::Result>();
   try {
-    std::string c_name = action_server_->get_current_goal()->smoother_id;
+    auto goal = action_server_->get_current_goal();
+    if (!goal) {
+      return;  //  if action_server_ is inactivate, goal would be a nullptr
+    }
+
+    std::string c_name = goal->smoother_id;
     std::string current_smoother;
     if (findSmootherId(c_name, current_smoother)) {
       current_smoother_ = current_smoother;
@@ -274,7 +279,6 @@ void SmootherServer::smoothPlan()
     }
 
     // Perform smoothing
-    auto goal = action_server_->get_current_goal();
     result->path = goal->path;
 
     if (!validate(result->path)) {