working fine but [pcl::NormalEstimation::compute] input_ is empt! keep print out

[ipinyulun]

Hi,

i could have the mapping working. however there is error [pcl::NormalEstimation::compute] input_ is empt! keep print out as per image below.. everything else i guess working fine since i could see the map cloud(white)) and the input cloud(rainbow)

the different is ... when i use rosbag recorded from velodyne VLP16, its working fine.. no such error..

but i get the error above when i use sick mrs1104 (4 laser, 7.5 degree vertical)

im aware that this error come from floor_detection_nodelet, however no matter i tweak the param, sensor_height, height_clip_range, and floor_pts_thresh... it wont eliminate that error

the bag sample is here https://drive.google.com/file/d/1lD3vWHrTpi0Pz300FIPkR5cBRB5mjCtJ/view?usp=sharing

and here is my launch file

https://drive.google.com/file/d/1lD3vWHrTpi0Pz300FIPkR5cBRB5mjCtJ/view?usp=sharing

[BamsaAhmed]

Hi did you solve this issue?

[mgrallos]

i am encountering the same issue. any workaround?