Fix: create merged pointcloud when no idx is selected

Signed-off-by: Hirokazu Ishida <h-ishida@jsk.imi.i.u-tokyo.ac.jp>
autowarefoundation · Apr 27, 2022 · db00da5 · db00da5
1 parent 50e049f
commit db00da5
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp
@@ -135,7 +135,10 @@ void DummyPerceptionPublisherNode::timerCallback()
     }
   }
 
-  if (!selected_indices.empty()) {
+  if (selected_indices.empty()) {
+    pcl::PointCloud<pcl::PointXYZ>::Ptr merged_pointcloud_ptr(new pcl::PointCloud<pcl::PointXYZ>);
+    pcl::toROSMsg(*merged_pointcloud_ptr, output_pointcloud_msg);
+  } else {
     std::vector<ObjectInfo> obj_infos;
     for (const auto selected_idx : selected_indices) {
       const auto obj_info = ObjectInfo(objects_.at(selected_idx), current_time);