guard the node in get_lifecycle_state

ros-controls · Jan 7, 2025 · 74b26b8 · 74b26b8
1 parent de1b4db
commit 74b26b8
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -176,6 +176,10 @@ void ControllerInterfaceBase::release_interfaces()
 
 const rclcpp_lifecycle::State & ControllerInterfaceBase::get_lifecycle_state() const
 {
+  if (!node_.get())
+  {
+    throw std::runtime_error("Lifecycle node hasn't been initialized yet!");
+  }
   return node_->get_current_state();
 }