Avoid segfault if TimeParameterization is not set

Author: rhaschke

core/src/solvers/cartesian_path.cpp

@@ -121,8 +121,9 @@ PlannerInterface::Result CartesianPath::plan(const planning_scene::PlanningScene
 		result->addSuffixWayPoint(waypoint, 0.0);
 
 	auto timing = props.get<TimeParameterizationPtr>("time_parameterization");
-	timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
-	                          props.get<double>("max_acceleration_scaling_factor"));
+	if (timing)
+		timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
+		                          props.get<double>("max_acceleration_scaling_factor"));
 
 	if (achieved_fraction < props.get<double>("min_fraction")) {
 		return { false, "min_fraction not met. Achieved: " + std::to_string(achieved_fraction) };

core/src/solvers/joint_interpolation.cpp

@@ -103,8 +103,9 @@ PlannerInterface::Result JointInterpolationPlanner::plan(const planning_scene::P
 		return { false, "Goal state is out of bounds!" };
 
 	auto timing = props.get<TimeParameterizationPtr>("time_parameterization");
-	timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
-	                          props.get<double>("max_acceleration_scaling_factor"));
+	if (timing)
+		timing->computeTimeStamps(*result, props.get<double>("max_velocity_scaling_factor"),
+		                          props.get<double>("max_acceleration_scaling_factor"));
 
 	// set max_effort on first and last waypoint (first, because we might reverse the trajectory)
 	const auto& max_effort = properties().get("max_effort");