No, a moving object does not have impulse if it has a constant velocity. Impulse is defined as the change in momentum of an object, and momentum is the product of an object's mass and velocity.
When an object's velocity is constant, its momentum remains constant as well. Since impulse is directly related to the change in momentum, if an object's momentum is not changing, there is no impulse acting on it.
Impulse occurs when there is a change in velocity, such as when an object accelerates or decelerates. In those cases, there is a corresponding change in momentum, and impulse can be calculated as the product of the force acting on the object and the time over which the force is applied.
In summary, an object with constant velocity does not experience impulse because its momentum remains constant. Impulse is associated with changes in velocity and momentum.