RegisterPlugins: valid node ptr shall not be mandatory

Author: devis12

behaviortree_ros2/src/bt_utils.cpp

@@ -134,7 +134,10 @@ void LoadPlugin(BT::BehaviorTreeFactory& factory, const std::filesystem::path& f
 void RegisterPlugins(bt_server::Params& params, BT::BehaviorTreeFactory& factory,
                      rclcpp::Node::SharedPtr node)
 {
-  RCLCPP_DEBUG(node->get_logger(), "Registering plugins");
+  if(node)
+  {
+    RCLCPP_DEBUG(node->get_logger(), "Registering plugins");
+  }
   BT::RosNodeParams ros_params;
   ros_params.nh = node;
   ros_params.server_timeout = std::chrono::milliseconds(params.ros_plugins_timeout);
@@ -154,7 +157,10 @@ void RegisterPlugins(bt_server::Params& params, BT::BehaviorTreeFactory& factory
     {
       if(entry.path().extension() == ".so")
       {
-        RCLCPP_DEBUG(node->get_logger(), "Loading plugin %s", entry.path().filename().c_str());
+        if(node)
+        {
+          RCLCPP_DEBUG(node->get_logger(), "Loading plugin %s", entry.path().filename().c_str());
+        }
         LoadPlugin(factory, entry.path(), ros_params);
       }
     }