diff --git a/wild_visual_navigation/traversability_estimator/nodes.py b/wild_visual_navigation/traversability_estimator/nodes.py
index 42a9ac0b..4e998969 100644
--- a/wild_visual_navigation/traversability_estimator/nodes.py
+++ b/wild_visual_navigation/traversability_estimator/nodes.py
@@ -163,6 +163,14 @@ def clear_debug_data(self):
             print(e)
             pass  # Image already removed
 
+    def has_debug_data(self):
+        return (
+            hasattr(self, "_image")
+            and self._image is not None
+            and hasattr(self, "_supervision_mask")
+            and self._supervision_mask is not None
+        )
+
     def change_device(self, device):
         """Changes the device of all the class members
 
diff --git a/wild_visual_navigation_ros/scripts/wvn_learning_node.py b/wild_visual_navigation_ros/scripts/wvn_learning_node.py
index 67882da1..84367872 100644
--- a/wild_visual_navigation_ros/scripts/wvn_learning_node.py
+++ b/wild_visual_navigation_ros/scripts/wvn_learning_node.py
@@ -831,7 +831,7 @@ def visualize_image_overlay(self):
         vis_node = self._traversability_estimator.get_mission_node_for_visualization()
 
         # Publish reprojections of last node in graph
-        if vis_node is not None:
+        if vis_node is not None and vis_node.has_debug_data():
             cam = vis_node.camera_name
             torch_image = vis_node._image
             torch_mask = vis_node._supervision_mask
@@ -841,6 +841,9 @@ def visualize_image_overlay(self):
             image_out = self._visualizer.plot_detectron_classification(torch_image, torch_mask, cmap="Blues")
             self._camera_handler[cam]["debug"]["image_overlay"].publish(rc.numpy_to_ros_image(image_out))
 
+        elif vis_node is not None:
+            rospy.logwarn(f"[{self._node_name}] No visualization data available for node")
+
     def pause_learning_callback(self, req):
         """Start and stop the network training"""
         prev_state = self._traversability_estimator.pause_learning