From 881fa761507c86e697ef5eb379062ca19fa025ae Mon Sep 17 00:00:00 2001
From: gaschler <gaschlera@gmail.com>
Date: Mon, 26 Mar 2018 14:58:21 +0200
Subject: [PATCH] Ignore empty laser scan message. (#767)

FIXES=#766
---
 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 181453b..8e3d28e 100644
--- 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) {