Fix invalid pointers not being caught #521

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Run time

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Job	Run time
Lint	2m 53s
Lint	2m 53s
Test (ROS noetic, Boost Asio)	3m 50s
Test (ROS noetic, Boost Asio)	3m 50s
Test (ROS humble, Boost Asio)	3m 34s
Test (ROS humble, Boost Asio)	3m 34s
Test (ROS rolling, Boost Asio)	4m 22s
Test (ROS rolling, Boost Asio)	4m 22s
Test (ROS melodic)	3m 11s
Test (ROS melodic)	3m 11s
Test (ROS noetic)	3m 15s
Test (ROS noetic)	3m 15s
Test (ROS galactic)	3m 51s
Test (ROS galactic)	3m 51s
Test (ROS humble)	4m 32s
Test (ROS humble)	4m 32s
Test (ROS iron)	3m 57s
Test (ROS iron)	3m 57s
Test (ROS rolling)	4m 23s
Test (ROS rolling)	3m 22s
	1h 14m 35s