Make sure pose publisher creates valid pose topics #1433
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Signed-off-by: Ian Chen <[email protected]>
| @@ -251,6 +251,7 @@ void PosePublisher::Configure(const Entity &_entity, | |||
| _sdf->Get<bool>("use_pose_vector_msg", this->dataPtr->usePoseV).first; | |||
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| std::string poseTopic = scopedName(_entity, _ecm) + "/pose"; | |||
| poseTopic = transport::TopicUtils::AsValidTopic(poseTopic); | |||
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This function might return an empty string. Do you mind to check poseTopic?
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I think it may be ok here because there is a hardcoded /pose suffix in the topic name in the line above. In any case, I added a check in 488d07b
Signed-off-by: Ian Chen <[email protected]>
Codecov Report
@@ Coverage Diff @@
## ign-gazebo6 #1433 +/- ##
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+ Coverage 63.36% 63.49% +0.13%
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Files 306 307 +1
Lines 24715 24776 +61
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+ Hits 15660 15731 +71
+ Misses 9055 9045 -10
Continue to review full report at Codecov.
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This pull request has been mentioned on Gazebo Community. There might be relevant details there: https://community.gazebosim.org/t/new-releases-2022-04-27-fortress-citadel/1389/1 |
Signed-off-by: Ian Chen [email protected]
🦟 Bug fix
Summary
Our model names often have spaces in them. This makes sure the ign topic created by the pose publisher system has valid topics.
to test:
edit pose_publisher.sdf world and change the
double_pendulum_with_basemodel to a name with spaces, e.g.double pendulum with base, install, and launch the world:Before this change, the
/model/double_pendulum_with_base/posetopic will not be publishedChecklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.