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check nullptr in smoothPlan() #4544

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Merged
merged 4 commits into from
Jul 19, 2024
Merged

check nullptr in smoothPlan() #4544

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ea082aa
check nullptr in smoothPlan()
Jul 19, 2024
c694a9d
code-style
Jul 19, 2024
031fa33
code-style
Jul 19, 2024
7e37f9f
simple change
Jul 19, 2024
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8 changes: 6 additions & 2 deletions nav2_smoother/src/nav2_smoother.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -274,7 +279,6 @@ void SmootherServer::smoothPlan()
}

// Perform smoothing
auto goal = action_server_->get_current_goal();
result->path = goal->path;

if (!validate(result->path)) {
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