diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc
index a6e2fec324..7763769c84 100644
--- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc
+++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc
@@ -631,7 +631,7 @@ void OpticalTactilePluginPrivate::Enable(const ignition::msgs::Boolean &_req)
 
   this->enabled = _req.data();
 
-  if (!_req.data())
+  if (!_req.data() && this->visualizePtr)
   {
     this->visualizePtr->RemoveNormalForcesAndContactsMarkers();
   }