[fix] RobotState constructor segfault (#2790)

moveit · Aug 15, 2021 · 0b4ac7a · 0b4ac7a
1 parent 0defef0
commit 0b4ac7a
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
@@ -61,10 +61,16 @@ RobotState::RobotState(const RobotModelConstPtr& robot_model)
   , has_velocity_(false)
   , has_acceleration_(false)
   , has_effort_(false)
-  , dirty_link_transforms_(robot_model_->getRootJoint())
+  , dirty_link_transforms_(nullptr)
   , dirty_collision_body_transforms_(nullptr)
   , rng_(nullptr)
 {
+  if (robot_model == nullptr)
+  {
+    throw std::invalid_argument("RobotState cannot be constructed with nullptr RobotModelConstPtr");
+  }
+
+  dirty_link_transforms_ = robot_model_->getRootJoint();
   allocMemory();
   initTransforms();
 }