feat: return empty data

Signed-off-by: keita1523 <[email protected]>
tier4 · Nov 30, 2023 · 1f2d472 · 1f2d472
1 parent 93e03fd
commit 1f2d472
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
@@ -313,6 +313,7 @@ void NDTScanMatcher::callback_sensor_points(
 {
   // mutex ndt_ptr_
   std::lock_guard<std::mutex> lock(ndt_ptr_mtx_);
+  if (sensor_points_sensorTF_msg_ptr->data.empty()) return;
 
   const auto exe_start_time = std::chrono::system_clock::now();
   const rclcpp::Time sensor_ros_time = sensor_points_sensorTF_msg_ptr->header.stamp;