Check for not valid msg on dispatch

Author: Mauro Passerino

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -185,6 +185,12 @@ class AnySubscriptionCallback
     ConstMessageSharedPtr message, const rclcpp::MessageInfo & message_info)
   {
     TRACEPOINT(callback_start, (const void *)this, true);
+
+    // If the message is not valid, return.
+    if(!message) {
+      return;
+    }
+
     if (const_shared_ptr_callback_) {
       const_shared_ptr_callback_(message);
     } else if (const_shared_ptr_with_info_callback_) {
@@ -208,6 +214,12 @@ class AnySubscriptionCallback
     MessageUniquePtr message, const rclcpp::MessageInfo & message_info)
   {
     TRACEPOINT(callback_start, (const void *)this, true);
+
+    // If the message is not valid, return.
+    if(!message) {
+      return;
+    }
+
     if (shared_ptr_callback_) {
       typename std::shared_ptr<MessageT> shared_message = std::move(message);
       shared_ptr_callback_(shared_message);

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -159,9 +159,7 @@ class SubscriptionIntraProcess : public SubscriptionIntraProcessBase
 
     if (any_callback_.use_take_shared_method()) {
       ConstMessageSharedPtr msg = buffer_->consume_shared();
-      if(msg != nullptr) {
-        any_callback_.dispatch_intra_process(msg, msg_info);
-      }
+      any_callback_.dispatch_intra_process(msg, msg_info);
     } else {
       MessageUniquePtr msg = buffer_->consume_unique();
       any_callback_.dispatch_intra_process(std::move(msg), msg_info);