From c20cb80b8d56f514dc49164aa73bb51fb68cd9d9 Mon Sep 17 00:00:00 2001
From: bernatx <bernatx@gmail.com>
Date: Thu, 8 Jun 2023 09:56:43 +0200
Subject: [PATCH] adding check to the collision sensor

---
 .../Plugins/Carla/Source/Carla/Sensor/CollisionSensor.cpp   | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/CollisionSensor.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/CollisionSensor.cpp
index 60e38330e..49df9eb71 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/CollisionSensor.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Sensor/CollisionSensor.cpp
@@ -77,11 +77,15 @@ void ACollisionSensor::OnCollisionEvent(
   const auto &Episode = GetEpisode();
   constexpr float TO_METERS = 1e-2;
   NormalImpulse *= TO_METERS;
-  GetDataStream(*this).Send(
+  if (IsStreamReady())
+  {
+    GetDataStream(*this).Send(
       *this,
       Episode.SerializeActor(Actor),
       Episode.SerializeActor(OtherActor),
       carla::geom::Vector3D{NormalImpulse.X, NormalImpulse.Y, NormalImpulse.Z});
+  }
+
   // record the collision event
   if (Episode.GetRecorder()->IsEnabled()){
     Episode.GetRecorder()->AddCollision(Actor, OtherActor);