diff --git a/core/src/task.cpp b/core/src/task.cpp index a8ada821..a1719481 100644 --- a/core/src/task.cpp +++ b/core/src/task.cpp @@ -55,8 +55,9 @@ Task::Task(const std::string& id, ContainerBase::pointer &&container) { // monitor state on commandline //addTaskCallback(std::bind(&Task::printState, this, std::ref(std::cout))); - // enable introspection by default - enableIntrospection(true); + // enable introspection by default, but only if ros::init() was called + if (ros::isInitialized()) + enableIntrospection(true); } planning_pipeline::PlanningPipelinePtr