From dc85ea86f1e2f73b62d9af547a4de0e599d8cd20 Mon Sep 17 00:00:00 2001
From: Tyler Weaver <tylerjw@gmail.com>
Date: Wed, 28 Jul 2021 15:59:20 -0600
Subject: [PATCH] [fix] RobotState Constructor segfault

---
 moveit_core/robot_state/src/robot_state.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
index 712ddcda4f..47c7db9f6e 100644
--- 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();
 }