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Fix an error where node crashes due to an empty cloud cluster

Darren Tsai requested to merge (removed):emptycloudfix into melodic

If clustered cloud is empty, the call to clustered_cloud->front() will cause the node to crash. This happens in pole_extractor.cpp in the method PoleExtractorImpl::findPoles in line 34.

I've just added an if statement that checks if the point cloud is empty or not before calling that method.

Edited by Darren Tsai

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Australian Centre for Robotics @ The University of Sydney