fix(concatedate_data): add error handling when sensor points is empty…

… (backport autowarefoundation#3814) (autowarefoundation#526) fix(concatedate_date): add error handling when sensor points is empty (autowarefoundation#3814) fix(concatedate_date): add error handling when sensor points are empty
YamatoAndo · Jun 28, 2023 · 3fafc95 · 3fafc95
1 parent eb2f39d
commit 3fafc95
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp b/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp
@@ -307,6 +307,13 @@ void PointCloudConcatenateDataSynchronizerComponent::convertToXYZICloud(
   sensor_msgs::msg::PointCloud2::SharedPtr & output_ptr)
 {
   output_ptr->header = input_ptr->header;
+
+  if (input_ptr->data.empty()) {
+    RCLCPP_WARN_STREAM_THROTTLE(
+      this->get_logger(), *this->get_clock(), 1000, "Empty sensor points!");
+    return;
+  }
+
   PointCloud2Modifier<PointXYZI> output_modifier{*output_ptr, input_ptr->header.frame_id};
   output_modifier.reserve(input_ptr->width);