Do not publish task plan message if plan is None

sea-bass · Jun 28, 2023 · 1b7f553 · 1b7f553
1 parent 35099d6
commit 1b7f553
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/pyrobosim_ros/examples/demo_pddl_planner.py b/pyrobosim_ros/examples/demo_pddl_planner.py
@@ -154,8 +154,10 @@ def do_plan(self):
         )
         if self.get_parameter("verbose").value == True:
             self.get_logger().info(f"{plan}")
-        plan_msg = task_plan_to_ros(plan)
-        self.plan_pub.publish(plan_msg)
+
+        if plan:
+            plan_msg = task_plan_to_ros(plan)
+            self.plan_pub.publish(plan_msg)
         self.latest_goal = None
         self.planning = False