fix rviz_plugin_render_tools topic and null check

moveit · May 26, 2020 · 5421554 · 5421554
1 parent c7ce58f
commit 5421554
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp b/moveit_ros/visualization/rviz_plugin_render_tools/src/trajectory_visualization.cpp
@@ -72,7 +72,7 @@ TrajectoryVisualization::TrajectoryVisualization(rviz_common::properties::Proper
   , trajectory_slider_dock_panel_(nullptr)
 {
   trajectory_topic_property_ = new rviz_common::properties::RosTopicProperty(
-      "Trajectory Topic", "/move_group/display_planned_path",
+      "Trajectory Topic", "/display_planned_path",
       rosidl_generator_traits::data_type<moveit_msgs::msg::DisplayTrajectory>(),
       "The topic on which the moveit_msgs::msg::DisplayTrajectory messages are received", widget,
       SLOT(changedTrajectoryTopic()), this);
@@ -190,8 +190,10 @@ void TrajectoryVisualization::onRobotModelLoaded(const robot_model::RobotModelCo
   enabledRobotColor();  // force-refresh to account for saved display configuration
   // perform post-poned subscription to trajectory topic
   // Check if topic name is empty
-  if (trajectory_topic_sub_->get_topic_name())
+  if (trajectory_topic_sub_ && trajectory_topic_sub_->get_topic_name())
+  {
     changedTrajectoryTopic();
+  }
 }
 
 void TrajectoryVisualization::reset()