prevent crash when setting initial pose before first scan#73
Merged
rsasaki0109 merged 1 commit intorsasaki0109:mainfrom Nov 9, 2025
Merged
prevent crash when setting initial pose before first scan#73rsasaki0109 merged 1 commit intorsasaki0109:mainfrom
rsasaki0109 merged 1 commit intorsasaki0109:mainfrom
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rsasaki0109
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Nov 9, 2025
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When using
set_initial_pose=falseand passing a pose estimate before first scan arriving,last_scan_ptr_is null butinitialPoseReceivedcallscloudReceived(last_scan_ptr_)which tries to access it leading to undefined behaviour.This PR adds a null check in cloudReceived() and prevents calling
cloudReceived(last_scan_ptr_)ininitialPoseReceivedwhenlast_scan_ptr_is null.