From 99e278ffc43f513a1d12fbc4fdfe6c595105b149 Mon Sep 17 00:00:00 2001 From: Shintaro SAKODA Date: Fri, 15 Mar 2024 08:54:11 +0900 Subject: [PATCH] Avoid passing nullptr in ndt Signed-off-by: Shintaro SAKODA --- localization/ndt_scan_matcher/src/map_update_module.cpp | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/localization/ndt_scan_matcher/src/map_update_module.cpp b/localization/ndt_scan_matcher/src/map_update_module.cpp index 286540a12ac72..d05292b2ad6c1 100644 --- a/localization/ndt_scan_matcher/src/map_update_module.cpp +++ b/localization/ndt_scan_matcher/src/map_update_module.cpp @@ -88,7 +88,9 @@ void MapUpdateModule::update_map(const geometry_msgs::msg::Point & position) ndt_ptr_mutex_->unlock(); return; } - ndt_ptr_->setInputSource(input_source); + if (input_source != nullptr) { + ndt_ptr_->setInputSource(input_source); + } ndt_ptr_mutex_->unlock(); need_rebuild_ = false; } else { @@ -107,7 +109,9 @@ void MapUpdateModule::update_map(const geometry_msgs::msg::Point & position) auto dummy_ptr = ndt_ptr_; auto input_source = ndt_ptr_->getInputSource(); ndt_ptr_ = secondary_ndt_ptr_; - ndt_ptr_->setInputSource(input_source); + if (input_source != nullptr) { + ndt_ptr_->setInputSource(input_source); + } ndt_ptr_mutex_->unlock(); dummy_ptr.reset();