The following if condition is causing an error:
if( !empty ($this -> session -> userdata( 'user_id') ) )
{
    $user_id = $this -> session -> userdata( 'user_id' );
} 
else 
{ 
    $error = "ID doesn't exist";
}
I get following error:
Fatal error: Can't use method return value in write context in (line number)
How can I fix it?
Replace the first if statement with if( ! $this->session->userdata('user_id') ).
The empty function check if a variable is empty but userdata is a function. Additionally, for your information, according to the CodeIgniter documentation, the userdata function returns FALSE if the item doesn't exist, which means that if user_id doesn't exist in your session, the code in the else will be executed.
If you are using the sessions library of codeigniter then you don't need to check your data 
 codeigniter already does that for you.
 if $this -> session -> userdata( 'user_id') is empty or not set then it will be returned as false. So just a code something like that
$user_id = $this->session->userdata('user_id');
if(!$user_id){  }else{ $error = 'ID doesn't exist'; }
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