check nullptr in smoothPlan() (#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>
ros-navigation · Aug 23, 2024 · 11cad89 · 11cad89
1 parent 9b27712
commit 11cad89
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
@@ -260,7 +260,12 @@ 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;
@@ -270,7 +275,6 @@ void SmootherServer::smoothPlan()
     }
 
     // Perform smoothing
-    auto goal = action_server_->get_current_goal();
     result->path = goal->path;
     result->was_completed = smoothers_[current_smoother_]->smooth(
       result->path, goal->max_smoothing_duration);