From c48fa58f9ef20b85cbd7ed1104a6d59af45afb73 Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Mon, 12 Aug 2024 10:00:34 -0700
Subject: [PATCH] Make sure steering joints exist before updating velocity /
 odometry in AckermannSteering plugin (#2521)

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 src/systems/ackermann_steering/AckermannSteering.cc | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/systems/ackermann_steering/AckermannSteering.cc b/src/systems/ackermann_steering/AckermannSteering.cc
index 59d81052f8..f1398c6c95 100644
--- a/src/systems/ackermann_steering/AckermannSteering.cc
+++ b/src/systems/ackermann_steering/AckermannSteering.cc
@@ -677,6 +677,11 @@ void AckermannSteering::PostUpdate(const UpdateInfo &_info,
   // Nothing left to do if paused.
   if (_info.paused)
     return;
+
+  if (this->dataPtr->leftSteeringJoints.empty() ||
+      this->dataPtr->rightSteeringJoints.empty())
+    return;
+
   if (this->dataPtr->steeringOnly)
   {
     this->dataPtr->UpdateAngle(_info, _ecm);