Sorry for that answer but I found another better solution
var enemy_parent = $Enemy_Parent #Reference to enemy's parent
var door_node = $Door #Door Reference
var enemy_count = enemy_parent.get_child_count()
print("enemy count: " + str(enemy_count))
if enemy_count == 0:
door_node.hide()
Only set the reference to the nodes. The number of childs would be counted automatically by get_child_count()