Fix a crash, since subdivisions can be empty. (#543)

2017-10-17 13:12:24 +02:00 · 2017-10-17 13:12:24 +02:00 · 6b22cfaf8d
parent 38f1c4dc14
commit 6b22cfaf8d
1 changed files with 3 additions and 0 deletions
--- a/cartographer_ros/cartographer_ros/sensor_bridge.cc
+++ b/cartographer_ros/cartographer_ros/sensor_bridge.cc
@ -149,6 +149,9 @@ void SensorBridge::HandleLaserScan(
        points.points.size() * (i + 1) / num_subdivisions_per_laser_scan_;
    const carto::sensor::PointCloud subdivision(
        points.points.begin() + start_index, points.points.begin() + end_index);
+    if (start_index == end_index) {
+      continue;
+    }
    const size_t middle_index = (start_index + end_index) / 2;
    const carto::common::Time subdivision_time =
        start_time +