Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• ROS2 Version: galactic
• Version or commit hash: last deb release (for ROS2) and nav2 from source
• DDS implementation: Cyclone

Steps to reproduce issue

Transition from an active state to unconfigured

Expected behavior

No crash

Actual behavior

Planner crashes on cleanup if downsample_costmap: false

Additional information

It is due to trying to cleanup/ reset the downsampler when it is not initialized:
https://github.com/ros-planning/navigation2/blob/5c61644651c4eab882b042e073d0f5964f03a501/nav2_smac_planner/src/smac_planner_2d.cpp#L187-L188