Fix Smac cleanup (#2477)

* fix smac2d cleanup * same for hybrid
ros-navigation · Jul 26, 2021 · 61670a1 · 61670a1
1 parent 5c61644
commit 61670a1
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/nav2_smac_planner/src/smac_planner_2d.cpp b/nav2_smac_planner/src/smac_planner_2d.cpp
@@ -184,8 +184,10 @@ void SmacPlanner2D::cleanup()
     _name.c_str());
   _a_star.reset();
   _smoother.reset();
-  _costmap_downsampler->on_cleanup();
-  _costmap_downsampler.reset();
+  if (_costmap_downsampler) {
+    _costmap_downsampler->on_cleanup();
+    _costmap_downsampler.reset();
+  }
   _raw_plan_publisher.reset();
 }
 

diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp
@@ -221,8 +221,10 @@ void SmacPlannerHybrid::cleanup()
     _name.c_str());
   _a_star.reset();
   _smoother.reset();
-  _costmap_downsampler->on_cleanup();
-  _costmap_downsampler.reset();
+  if (_costmap_downsampler) {
+    _costmap_downsampler->on_cleanup();
+    _costmap_downsampler.reset();
+  }
   _raw_plan_publisher.reset();
 }