diff --git a/rtabmap_util/src/nodelets/point_cloud_assembler.cpp b/rtabmap_util/src/nodelets/point_cloud_assembler.cpp
index 2264af399..fa1b95d8d 100644
--- a/rtabmap_util/src/nodelets/point_cloud_assembler.cpp
+++ b/rtabmap_util/src/nodelets/point_cloud_assembler.cpp
@@ -286,13 +286,14 @@ void PointCloudAssembler::callbackCloudOdomInfo(
 	}
 	else
 	{
-		RCLCPP_WARN(this->get_logger(), "Reseting point cloud assembler as null odometry has been received.");
+		RCLCPP_WARN(this->get_logger(), "Resetting point cloud assembler as null odometry has been received.");
 		clouds_.clear();
 	}
 }
 
 void PointCloudAssembler::callbackCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloudMsg)
 {
+	callbackCalled_ = true;
 	if(cloudPub_->get_subscription_count())
 	{
 		UASSERT_MSG(cloudMsg->data.size() == cloudMsg->row_step*cloudMsg->height,