From 735653007376d57afc97bf8c63c72b0a98b24641 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Mon, 10 Jun 2024 09:47:51 +0200
Subject: [PATCH] Don't crash if a wrong config was detected (#324)

(cherry picked from commit ec1b95893fa933cb3e2cc5341bb65dd621645785)
---
 ign_ros2_control/src/ign_ros2_control_plugin.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/ign_ros2_control/src/ign_ros2_control_plugin.cpp b/ign_ros2_control/src/ign_ros2_control_plugin.cpp
index ca58f9fe..7ebcfcb2 100644
--- a/ign_ros2_control/src/ign_ros2_control_plugin.cpp
+++ b/ign_ros2_control/src/ign_ros2_control_plugin.cpp
@@ -235,6 +235,9 @@ IgnitionROS2ControlPlugin::IgnitionROS2ControlPlugin()
 IgnitionROS2ControlPlugin::~IgnitionROS2ControlPlugin()
 {
   // Stop controller manager thread
+  if (!this->dataPtr->controller_manager_) {
+    return;
+  }
   this->dataPtr->executor_->remove_node(this->dataPtr->controller_manager_);
   this->dataPtr->executor_->cancel();
   this->dataPtr->thread_executor_spin_.join();
@@ -483,6 +486,9 @@ void IgnitionROS2ControlPlugin::PreUpdate(
   const ignition::gazebo::UpdateInfo & _info,
   ignition::gazebo::EntityComponentManager & /*_ecm*/)
 {
+  if (!this->dataPtr->controller_manager_) {
+    return;
+  }
   static bool warned{false};
   if (!warned) {
     rclcpp::Duration gazebo_period(_info.dt);
@@ -517,6 +523,9 @@ void IgnitionROS2ControlPlugin::PostUpdate(
   const ignition::gazebo::UpdateInfo & _info,
   const ignition::gazebo::EntityComponentManager & /*_ecm*/)
 {
+  if (!this->dataPtr->controller_manager_) {
+    return;
+  }
   // Get the simulation time and period
   rclcpp::Time sim_time_ros(std::chrono::duration_cast<std::chrono::nanoseconds>(
       _info.simTime).count(), RCL_ROS_TIME);