From cd74555cfb307eb437808f0ba27bc8b449415287 Mon Sep 17 00:00:00 2001
From: Mike Wake <michael.wake@aosgrp.com.au>
Date: Wed, 28 Aug 2024 18:02:46 +1000
Subject: [PATCH] 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 <michael.wake@aosgrp.com.au>
---
 nav2_bt_navigator/src/navigators/navigate_to_pose.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp b/nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
index a7e58ab24b3..cf566893026 100644
--- 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]() {