Ignore empty laser scan message. (#767)

FIXES=#766
2018-03-26 14:58:21 +02:00 · 2018-03-26 14:58:21 +02:00 · 881fa76150
parent 8dc0352d43
commit 881fa76150
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
@ -181,6 +181,9 @@ void SensorBridge::HandleLaserScan(
    const std::string& sensor_id, const carto::common::Time time,
    const std::string& frame_id,
    const carto::sensor::PointCloudWithIntensities& points) {
+  if (points.points.empty()) {
+    return;
+  }
  CHECK_LE(points.points.back()[3], 0);
  // TODO(gaschler): Use per-point time instead of subdivisions.
  for (int i = 0; i != num_subdivisions_per_laser_scan_; ++i) {