message: fixed (also refer to https://github.com/introlab/rtabmap/commit/963aea5c0d6c92f598345b767171c074be7e57f9)
diff: @@ -316,7 +316,7 @@ private:
  obstacles,
  &flatObstacles);
  - if(cloud->size() && (ground->size() || obstacles->size()))
  + if(cloud->size() && ((ground.get() && ground->size()) || (obstacles.get() && obstacles->size())))
  {
  if(groundPub_.getNumSubscribers() &&
  ground.get() && ground->size())
  