From 58174d0ebe1b4513e313518b107420257ca1a0e6 Mon Sep 17 00:00:00 2001
From: Aditya Pande <aditya050995@gmail.com>
Date: Mon, 9 Aug 2021 12:08:01 -0700
Subject: [PATCH] cleanup, added nullptr check to node.cpp, lifecyclenode.cpp

Signed-off-by: Aditya Pande <aditya050995@gmail.com>
---
 rclcpp/include/rclcpp/node.hpp                      | 1 -
 rclcpp/include/rclcpp/node_interfaces/node_base.hpp | 2 --
 rclcpp/src/rclcpp/node.cpp                          | 4 +++-
 rclcpp_lifecycle/src/lifecycle_node.cpp             | 4 +++-
 4 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 1e19a95247..44119ee2fc 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -70,7 +70,6 @@
 #include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
 
-
 namespace rclcpp
 {
 
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_base.hpp b/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
index 39790c4292..1fac7c8b10 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
@@ -15,8 +15,6 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_BASE_HPP_
 
-#include <atomic>
-#include <functional>
 #include <memory>
 #include <mutex>
 #include <string>
diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
index d8a5a8dbcb..acbb55e7ec 100644
--- a/rclcpp/src/rclcpp/node.cpp
+++ b/rclcpp/src/rclcpp/node.cpp
@@ -610,5 +610,7 @@ void Node::for_each_callback_group(
   const node_interfaces::NodeBaseInterface::CallbackGroupFunction & func)
 {
   auto node_base = std::dynamic_pointer_cast<rclcpp::node_interfaces::NodeBase>(node_base_);
-  node_base->for_each_callback_group(func);
+  if (!node_base) {
+    node_base->for_each_callback_group(func);
+  }
 }
diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp
index 9d81a6db95..1b51b1fcb8 100644
--- a/rclcpp_lifecycle/src/lifecycle_node.cpp
+++ b/rclcpp_lifecycle/src/lifecycle_node.cpp
@@ -656,7 +656,9 @@ LifecycleNode::for_each_callback_group(
   const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction & func)
 {
   auto node_base = std::dynamic_pointer_cast<rclcpp::node_interfaces::NodeBase>(node_base_);
-  node_base->for_each_callback_group(func);
+  if (!node_base) {
+    node_base->for_each_callback_group(func);
+  }
 }
 
 }  // namespace rclcpp_lifecycle