Focusing on Earth right now, if human civilization were to go extinct in the near future, whatever comes after us will have a much harder time getting to an industrial civilization (or maybe any civilization) because we have used up a lot of non-renewable resources that aren't ever coming back. Namely, things like abundant and easily accessible coal and oil. There's also things surface metal deposits (tin, copper, iron, etc) which are essential for making those first steps. Granted, we, as a civilization, have placed a lot of metal on the surface but it's scattered all over and I have no idea how much of it will be usable by the roach-people that come millions of years after us with no prior knowledge.
Still, all of that aside, the fact that we have coal today strikes me as a pretty convincing argument that there was no industrial civilization before us. It doesn't rule it out entirely, of course. I can imagine an industrial civilization without coal or oil, but I do have to stretch my imagination farther.