diff --git a/source/armarx/navigation/local_planning/TimedElasticBands.cpp b/source/armarx/navigation/local_planning/TimedElasticBands.cpp
index 8f86171a77212c349be93aa02314f1bf355ef10d..86f63c95260b97f9a963968ed638fcd42d65daec 100644
--- a/source/armarx/navigation/local_planning/TimedElasticBands.cpp
+++ b/source/armarx/navigation/local_planning/TimedElasticBands.cpp
@@ -221,10 +221,16 @@ namespace armarx::navigation::local_planning
     void
     TimedElasticBands::setTebCostmap()
     {
-        if (!scene.staticScene)
+        if (not scene.staticScene.has_value())
+        {
             return;
-        if (!scene.staticScene->distanceToObstaclesCostmap)
+        }
+        
+        if (not scene.staticScene->distanceToObstaclesCostmap.has_value())
+        {
             return;
+        }
+
         const algorithms::Costmap& navigationCostmap =
             scene.staticScene->distanceToObstaclesCostmap.value();
         teb_costmap.emplace(conv::toRos(navigationCostmap));