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temporary fix bug null pointer #5749

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Merged
SteveMacenski merged 4 commits into from
Dec 3, 2025
Merged

temporary fix bug null pointer #5749

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54bf80d
temporary fix bug null pointer
suifengersan123 Dec 2, 2025
465efc1
add return
suifengersan123 Dec 2, 2025
1cd2b28
remove return
suifengersan123 Dec 3, 2025
2b5297b
Merge branch 'ros-navigation:main' into main-5721
suifengersan123 Dec 3, 2025
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6 changes: 6 additions & 0 deletions nav2_costmap_2d/src/costmap_layer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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());
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4 changes: 3 additions & 1 deletion nav2_costmap_2d/src/layered_costmap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
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