message: obstacles_detection: fixed empty output clouds when input cloud is organized
diff: @@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  #include <pcl/point_cloud.h>
  #include <pcl/point_types.h>
  #include <pcl_conversions/pcl_conversions.h>
  +#include <pcl/filters/filter.h>
  #include <tf/transform_listener.h>
  @@ -289,6 +290,11 @@ private:
  pcl::PointCloud<pcl::PointXYZ>::Ptr inputCloud(new pcl::PointCloud<pcl::PointXYZ>);
  pcl::fromROSMsg(*cloudMsg, *inputCloud);
  + if(inputCloud->isOrganized())
  + {
  + std::vector<int> indices;
  + pcl::removeNaNFromPointCloud(*inputCloud, *inputCloud, indices);
  + }
  //Common variables for all strategies
  pcl::IndicesPtr ground, obstacles;
  @@ -373,6 +379,10 @@ private:
  }
  }
  }
  + else
  + {
  + ROS_WARN("obstacles_detection: Input cloud is empty! (%d x %d, is_dense=%d)", cloudMsg->width, cloudMsg->height, cloudMsg->is_dense?1:0);
  + }
  if(groundPub_.getNumSubscribers())
  {
  