diff --git a/LibCarla/source/carla/opendrive/parser/SignalParser.cpp b/LibCarla/source/carla/opendrive/parser/SignalParser.cpp
index 27f87fcb5..93d3a56aa 100644
--- a/LibCarla/source/carla/opendrive/parser/SignalParser.cpp
+++ b/LibCarla/source/carla/opendrive/parser/SignalParser.cpp
@@ -42,102 +42,98 @@ namespace parser {
       road::RoadId road_id = road_node.attribute("id").as_uint();
 
       const pugi::xml_node signals_node = road_node.child("signals");
-      for (pugi::xml_node signal_node = signals_node.child("signal");
-          signal_node;
-          signal_node = signal_node.next_sibling("signal")) {
-        const double s_position = signal_node.attribute("s").as_double();
-        const double t_position = signal_node.attribute("t").as_double();
-        const road::SignId signal_id = signal_node.attribute("id").value();
-        const std::string name = signal_node.attribute("name").value();
-        const std::string dynamic =  signal_node.attribute("dynamic").value();
-        const std::string orientation =  signal_node.attribute("orientation").value();
-        const double zOffset = signal_node.attribute("zOffSet").as_double();
-        const std::string country =  signal_node.attribute("country").value();
-        const std::string type =  signal_node.attribute("type").value();
-        const std::string subtype =  signal_node.attribute("subtype").value();
-        const double value = signal_node.attribute("value").as_double();
-        const std::string unit =  signal_node.attribute("unit").value();
-        const double height = signal_node.attribute("height").as_double();
-        const double width = signal_node.attribute("width").as_double();
-        const std::string text =  signal_node.attribute("text").value();
-        const double hOffset = signal_node.attribute("hOffset").as_double();
-        const double pitch = signal_node.attribute("pitch").as_double();
-        const double roll = signal_node.attribute("roll").as_double();
-        log_debug("Road: ",
-            road_id,
-            "Adding Signal: ",
-            s_position,
-            t_position,
-            signal_id,
-            name,
-            dynamic,
-            orientation,
-            zOffset,
-            country,
-            type,
-            subtype,
-            value,
-            unit,
-            height,
-            width,
-            text,
-            hOffset,
-            pitch,
-            roll);
+      if(signals_node){
+        for (pugi::xml_node signal_node : signals_node.children("signal")) {
+          const double s_position = signal_node.attribute("s").as_double();
+          const double t_position = signal_node.attribute("t").as_double();
+          const road::SignId signal_id = signal_node.attribute("id").value();
+          const std::string name = signal_node.attribute("name").value();
+          const std::string dynamic =  signal_node.attribute("dynamic").value();
+          const std::string orientation =  signal_node.attribute("orientation").value();
+          const double zOffset = signal_node.attribute("zOffSet").as_double();
+          const std::string country =  signal_node.attribute("country").value();
+          const std::string type =  signal_node.attribute("type").value();
+          const std::string subtype =  signal_node.attribute("subtype").value();
+          const double value = signal_node.attribute("value").as_double();
+          const std::string unit =  signal_node.attribute("unit").value();
+          const double height = signal_node.attribute("height").as_double();
+          const double width = signal_node.attribute("width").as_double();
+          const std::string text =  signal_node.attribute("text").value();
+          const double hOffset = signal_node.attribute("hOffset").as_double();
+          const double pitch = signal_node.attribute("pitch").as_double();
+          const double roll = signal_node.attribute("roll").as_double();
+          log_debug("Road: ",
+              road_id,
+              "Adding Signal: ",
+              s_position,
+              t_position,
+              signal_id,
+              name,
+              dynamic,
+              orientation,
+              zOffset,
+              country,
+              type,
+              subtype,
+              value,
+              unit,
+              height,
+              width,
+              text,
+              hOffset,
+              pitch,
+              roll);
 
-        carla::road::Road *road = map_builder.GetRoad(road_id);
-        auto signal_reference = map_builder.AddSignal(road,
-            signal_id,
-            s_position,
-            t_position,
-            name,
-            dynamic,
-            orientation,
-            zOffset,
-            country,
-            type,
-            subtype,
-            value,
-            unit,
-            height,
-            width,
-            text,
-            hOffset,
-            pitch,
-            roll);
-        AddValidity(signal_reference, signal_node, "validity", map_builder);
+          carla::road::Road *road = map_builder.GetRoad(road_id);
+          auto signal_reference = map_builder.AddSignal(road,
+              signal_id,
+              s_position,
+              t_position,
+              name,
+              dynamic,
+              orientation,
+              zOffset,
+              country,
+              type,
+              subtype,
+              value,
+              unit,
+              height,
+              width,
+              text,
+              hOffset,
+              pitch,
+              roll);
+          AddValidity(signal_reference, signal_node, "validity", map_builder);
 
-        for (pugi::xml_node dependency_node = signal_node.child("dependency");
-            dependency_node;
-            dependency_node = dependency_node.next_sibling("validity")) {
-          const std::string dependency_id = dependency_node.attribute("id").value();
-          const std::string dependency_type = dependency_node.attribute("type").value();
-          log_debug("Added dependency to signal ", signal_id, ":", dependency_id, dependency_type);
-          map_builder.AddDependencyToSignal(signal_id, dependency_id, dependency_type);
+          for (pugi::xml_node dependency_node : signal_node.children("dependency")) {
+            const std::string dependency_id = dependency_node.attribute("id").value();
+            const std::string dependency_type = dependency_node.attribute("type").value();
+            log_debug("Added dependency to signal ", signal_id, ":", dependency_id, dependency_type);
+            map_builder.AddDependencyToSignal(signal_id, dependency_id, dependency_type);
+          }
+        }
+        for (pugi::xml_node signal_reference_node : signals_node.children("signalReference")) {
+          const double s_position = signal_reference_node.attribute("s").as_double();
+          const double t_position = signal_reference_node.attribute("t").as_double();
+          const road::SignId signal_id = signal_reference_node.attribute("id").value();
+          const std::string signal_reference_orientation =
+              signal_reference_node.attribute("orientation").value();
+          log_debug("Road: ",
+              road_id,
+              "Added SignalReference ",
+              s_position,
+              t_position,
+              signal_reference_orientation);
+          carla::road::Road *road = map_builder.GetRoad(road_id);
+          auto signal_reference = map_builder.AddSignalReference(
+              road,
+              signal_id,
+              s_position,
+              t_position,
+              signal_reference_orientation);
+          AddValidity(signal_reference, signal_reference_node, "validity", map_builder);
         }
-      }
-      for (pugi::xml_node signal_reference_node = signals_node.child("signalReference");
-          signal_reference_node;
-          signal_reference_node = signal_reference_node.next_sibling("signalReference")) {
-        const double s_position = signal_reference_node.attribute("s").as_double();
-        const double t_position = signal_reference_node.attribute("t").as_double();
-        const road::SignId signal_id = signal_reference_node.attribute("id").value();
-        const std::string signal_reference_orientation =
-            signal_reference_node.attribute("orientation").value();
-        log_debug("Road: ",
-            road_id,
-            "Added SignalReference ",
-            s_position,
-            t_position,
-            signal_reference_orientation);
-        carla::road::Road *road = map_builder.GetRoad(road_id);
-        auto signal_reference = map_builder.AddSignalReference(
-            road,
-            signal_id,
-            s_position,
-            t_position,
-            signal_reference_orientation);
-        AddValidity(signal_reference, signal_reference_node, "validity", map_builder);
       }
     }
   }