hotfix: fixed a case where a single point entered the next cloud, destroying the stamps (#300)

mojomex · knzo25 · web-flow · commit 33d7779cc8ba · 2025-04-04T14:53:22.000+09:00
Co-authored-by: Kenzo Lobos-Tsunekawa &lt;kenzo.lobos@tier4.jp&gt;
diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
@@ -312,6 +312,7 @@ class HesaiDecoder : public HesaiScanDecoder
           // already been swapped and published before the timestamp reset angle is reached. Thus,
           // the `decode` pointcloud is now empty and will be decoded to. Reset its timestamp.
           decode_scan_timestamp_ns_ = new_scan_timestamp_ns;
+          decode_pc_->clear();
         } else {
           /// When not cutting at the end of the FoV (i.e. the FoV is 360 deg or a cut occurs
           /// somewhere within a non-360 deg FoV), the current scan is still being decoded to the
