diff --git a/rtabmap_util/src/nodelets/point_cloud_assembler.cpp b/rtabmap_util/src/nodelets/point_cloud_assembler.cpp
index ead6cb0e0..a60779a8e 100644
--- a/rtabmap_util/src/nodelets/point_cloud_assembler.cpp
+++ b/rtabmap_util/src/nodelets/point_cloud_assembler.cpp
@@ -302,6 +302,7 @@ class PointCloudAssembler : public nodelet::Nodelet
 
 	void callbackCloud(const sensor_msgs::PointCloud2ConstPtr & cloudMsg)
 	{
+		callbackCalled_ = true;
 		if(cloudPub_.getNumSubscribers())
 		{
 			UASSERT_MSG(cloudMsg->data.size() == cloudMsg->row_step*cloudMsg->height,