Only set if it is not nullptr

sjahr · Aug 6, 2024 · 165a922 · 165a922
1 parent e3b3dde
commit 165a922
Showing 1 changed file with 10 additions and 3 deletions.
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -212,7 +212,10 @@ PlanningScene::PlanningScene(const PlanningSceneConstPtr& parent) : parent_(pare
 
   setStateFeasibilityPredicate(parent->getStateFeasibilityPredicate());
   setMotionFeasibilityPredicate(parent->getMotionFeasibilityPredicate());
-  setCollisionObjectUpdateCallback(parent_->current_world_object_update_callback_);
+  if (parent_->current_world_object_update_callback_)
+  {
+    setCollisionObjectUpdateCallback(parent_->current_world_object_update_callback_);
+  }
 
   // maintain a separate world.  Copy on write ensures that most of the object
   // info is shared until it is modified.
@@ -1214,8 +1217,12 @@ void PlanningScene::decoupleParent()
         (object_types_.value())[it->first] = it->second;
     }
   }
-  current_world_object_update_callback_ = parent_->current_world_object_update_callback_;
-  setCollisionObjectUpdateCallback(current_world_object_update_callback_);
+
+  if (parent_->current_world_object_update_callback_)
+  {
+    current_world_object_update_callback_ = parent_->current_world_object_update_callback_;
+    setCollisionObjectUpdateCallback(current_world_object_update_callback_);
+  }
 
   parent_.reset();
 }