From 6b22cfaf8de5b15fbcc3154913c334f3ddbb4a06 Mon Sep 17 00:00:00 2001
From: Holger Rapp <HolgerRapp@gmx.net>
Date: Tue, 17 Oct 2017 13:12:24 +0200
Subject: [PATCH] Fix a crash, since subdivisions can be empty. (#543)

---
 cartographer_ros/cartographer_ros/sensor_bridge.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/cartographer_ros/cartographer_ros/sensor_bridge.cc b/cartographer_ros/cartographer_ros/sensor_bridge.cc
index a3b2eab..1f2abdb 100644
--- 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 +