fix NavigateToPose onLoop current_path blackboard existance logic (#4341

) Make it consistent with NavigateThroughPoses. This was introduced when changing logic to remove internal exception. Signed-off-by: Mike Wake <[email protected]>
ros-navigation · Aug 28, 2024 · cd74555 · cd74555
1 parent cbca721
commit cd74555
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
@@ -143,8 +143,8 @@ NavigateToPoseNavigator::onLoop()
 
   // Get current path points
   nav_msgs::msg::Path current_path;
-  [[maybe_unused]] auto res = blackboard->get(path_blackboard_id_, current_path);
-  if (current_path.poses.size() > 0u) {
+  auto res = blackboard->get(path_blackboard_id_, current_path);
+  if (res && current_path.poses.size() > 0u) {
     // Find the closest pose to current pose on global path
     auto find_closest_pose_idx =
       [&current_pose, &current_path]() {