HokuyoLaserUnit: Fix topics for each device object

source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp

@@ -69,8 +69,6 @@ void HokuyoLaserUnit::onInitComponent()
             device.connected = false;
 
             device.componentName = getName();
-            device.scanTopic = topic;
-            device.robotHealthTopic = robotHealthTopic;
         }
         catch (std::exception const& ex)
         {
@@ -115,6 +113,9 @@ void HokuyoLaserUnit::onConnectComponent()
         info.stepSize = (info.maxAngle - info.minAngle) / (maxStep - minStep);
         device.lengthData.resize(lengthDataSize);
 
+        device.scanTopic = topic;
+        device.robotHealthTopic = robotHealthTopic;
+
         connectedDevices.push_back(info);
 
         ARMARX_INFO << "Connected to " << device.ip << ", " << info.frame << ", "
@@ -243,13 +244,27 @@ void HokuyoLaserScanDevice::run()
 
             errorCounter = 0;
 
-            scanTopic->reportSensorValues(ip, frame, scan, now);
+            if (scanTopic)
+            {
+                scanTopic->reportSensorValues(ip, frame, scan, now);
+            }
+            else
+            {
+                ARMARX_WARNING << "No scan topic available: IP: " << ip << ", Port: " << port;
+            }
             IceUtil::Time time_topicSensor = TimeUtil::GetTime();
 
             RobotHealthHeartbeatArgs args;
             args.maximumCycleTimeWarningMS = 500;
             args.maximumCycleTimeErrorMS = 800;
-            robotHealthTopic->heartbeat(componentName + "_" + ip, args);
+            if (robotHealthTopic)
+            {
+                robotHealthTopic->heartbeat(componentName + "_" + ip, args);
+            }
+            else
+            {
+                ARMARX_WARNING << "No robot health topic available: IP: " << ip << ", Port: " << port;
+            }
 
             IceUtil::Time time_topicHeartbeat = TimeUtil::GetTime();