check nullptr in smoothPlan() (#4544)

* check nullptr in smoothPlan()

Signed-off-by: GoesM <[email protected]>

* code-style

Signed-off-by: GoesM <[email protected]>

* code-style

Signed-off-by: GoesM <[email protected]>

* simple change

Signed-off-by: GoesM <[email protected]>

---------

Signed-off-by: GoesM <[email protected]>
Co-authored-by: GoesM <[email protected]>

Author: 2 people

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)) {