diff --git a/src/behavior_tree.cpp b/src/behavior_tree.cpp
index b6da165b7..4f25bc500 100644
--- a/src/behavior_tree.cpp
+++ b/src/behavior_tree.cpp
@@ -56,7 +56,9 @@ void applyRecursiveVisitor(TreeNode* node, const std::function<void(TreeNode*)>&
     }
     else if (auto decorator = dynamic_cast<BT::DecoratorNode*>(node))
     {
-        applyRecursiveVisitor(decorator->child(), visitor);
+        if( decorator->child() ){
+            applyRecursiveVisitor(decorator->child(), visitor);
+        }
     }
 }
 
diff --git a/src/decorator_node.cpp b/src/decorator_node.cpp
index 6c9967625..d79da5d6d 100644
--- a/src/decorator_node.cpp
+++ b/src/decorator_node.cpp
@@ -48,6 +48,9 @@ TreeNode* DecoratorNode::child()
 
 void DecoratorNode::haltChild()
 {
+    if( !child_node_ ){
+        return;
+    }
     if (child_node_->status() == NodeStatus::RUNNING)
     {
         child_node_->halt();