Fix nullopt dereference in GoToPlace goal selection (#130)

kjchee · web-flow · commit 1ab3a1d798da · 2025-12-24T10:14:54.000+08:00
Signed-off-by: kjchee &lt;keai_jiang_chee@cgh.com.sg&gt;
diff --git a/rmf_task_sequence/src/rmf_task_sequence/events/GoToPlace.cpp b/rmf_task_sequence/src/rmf_task_sequence/events/GoToPlace.cpp
@@ -109,6 +109,9 @@ Activity::ConstModelPtr GoToPlace::Model::make(
         invariant_initial_state,
         goal);
 
+      if (!invariant_duration_opt.has_value())
+        continue;
+
       if (!shortest_travel_time.has_value())
       {
         shortest_travel_time = invariant_duration_opt;

Original file line number	Diff line number	Diff line change
`@@ -109,6 +109,9 @@ Activity::ConstModelPtr GoToPlace::Model::make(`
`109`	`109`	`invariant_initial_state,`
`110`	`110`	`goal);`
`111`	`111`
	`112`	`+ if (!invariant_duration_opt.has_value())`
	`113`	`+ continue;`
	`114`	`+`
`112`	`115`	`if (!shortest_travel_time.has_value())`
`113`	`116`	`{`
`114`	`117`	`shortest_travel_time = invariant_duration_opt;`