diff --git a/nav2_costmap_2d/src/costmap_layer.cpp b/nav2_costmap_2d/src/costmap_layer.cpp
index 9b597962d10..a5323fc6c95 100644
--- a/nav2_costmap_2d/src/costmap_layer.cpp
+++ b/nav2_costmap_2d/src/costmap_layer.cpp
@@ -57,6 +57,12 @@ void CostmapLayer::matchSize()
 {
   std::lock_guard<Costmap2D::mutex_t> guard(*getMutex());
   Costmap2D * master = layered_costmap_->getCostmap();
+  if (!master) {
+    RCLCPP_WARN(
+      rclcpp::get_logger("nav2_costmap_2d"),
+      "Cannot match size for layer, master costmap is not initialized yet.");
+    return;
+  }
   resizeMap(
     master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(),
     master->getOriginX(), master->getOriginY());
diff --git a/nav2_costmap_2d/src/layered_costmap.cpp b/nav2_costmap_2d/src/layered_costmap.cpp
index a551ec70e20..bef1cb97837 100644
--- a/nav2_costmap_2d/src/layered_costmap.cpp
+++ b/nav2_costmap_2d/src/layered_costmap.cpp
@@ -117,7 +117,9 @@ void LayeredCostmap::resizeMap(
   for (vector<std::shared_ptr<Layer>>::iterator plugin = plugins_.begin();
     plugin != plugins_.end(); ++plugin)
   {
-    (*plugin)->matchSize();
+    if (*plugin) {
+      (*plugin)->matchSize();
+    }
   }
   for (vector<std::shared_ptr<Layer>>::iterator filter = filters_.begin();
     filter != filters_.end(); ++filter)