Fix nullptr dereference

Signed-off-by: methylDragon <[email protected]>
osrf · Dec 5, 2023 · b713af3 · b713af3
1 parent e4d5dd6
commit b713af3
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/nexus_motion_planner/src/motion_planner_server.cpp b/nexus_motion_planner/src/motion_planner_server.cpp
@@ -285,9 +285,13 @@ MotionPlannerServer::MotionPlannerServer(const rclcpp::NodeOptions& options)
     _internal_node->declare_parameter<int>(
       "warehouse_port", _cache_db_port);
 
-    _motion_plan_cache =
-      std::make_unique<nexus::motion_planner::MotionPlanCache>(_internal_node);
   }
+
+  // We need to construct the cache even if we are not using the DB, since it
+  // has a utility function that uses the internal node that we use to generate
+  // a trajectory start point for cartesian planning.
+  _motion_plan_cache =
+    std::make_unique<nexus::motion_planner::MotionPlanCache>(_internal_node);
 }
 
 //==============================================================================