From d99f44c48e600a58856d210de3cc5fc637da22f2 Mon Sep 17 00:00:00 2001
From: Daniel Sanchez <danielsanchezaran@gmail.com>
Date: Tue, 16 Apr 2024 18:40:16 +0900
Subject: [PATCH] check empty cloud

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
---
 control/autonomous_emergency_braking/src/node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/control/autonomous_emergency_braking/src/node.cpp b/control/autonomous_emergency_braking/src/node.cpp
index 7b81d5b92148c..591bff6dd40b3 100644
--- a/control/autonomous_emergency_braking/src/node.cpp
+++ b/control/autonomous_emergency_braking/src/node.cpp
@@ -569,7 +569,7 @@ void AEB::createClusteredPointCloudObjectData(
   std::vector<ObjectData> & objects)
 {
   // check if the predicted path has valid number of points
-  if (ego_path.size() < 2 || ego_polys.empty() || !cropped_ros_pointcloud_ptr_) {
+  if (ego_path.size() < 2 || ego_polys.empty() || cropped_ros_pointcloud_ptr_->data.empty()) {
     return;
   }