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Make sure pose publisher creates valid pose topics #1433

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merged 3 commits into from
Apr 12, 2022
Merged

Make sure pose publisher creates valid pose topics #1433

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e748cc2
make sure pose publisher creates valid pose topics
iche033 Apr 8, 2022
488d07b
check empty topic
iche033 Apr 12, 2022
7c02004
Merge branch 'ign-gazebo6' into pose_publisher_valid_topic
iche033 Apr 12, 2022
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1 change: 1 addition & 0 deletions src/systems/pose_publisher/PosePublisher.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -251,6 +251,7 @@ void PosePublisher::Configure(const Entity &_entity,
_sdf->Get<bool>("use_pose_vector_msg", this->dataPtr->usePoseV).first;

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

std::string staticPoseTopic = poseTopic + "_static";

if (this->dataPtr->usePoseV)
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