Make sure pose publisher creates valid pose topics (#1433)

Signed-off-by: Ian Chen <ichen@osrfoundation.org> Signed-off-by: Louise Poubel <louise@openrobotics.org>
gazebosim · Apr 12, 2022 · e3b5964 · e3b5964
1 parent a5abbb5
commit e3b5964
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/src/systems/pose_publisher/PosePublisher.cc b/src/systems/pose_publisher/PosePublisher.cc
@@ -251,6 +251,13 @@ 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);
+  if (poseTopic.empty())
+  {
+    poseTopic = "/pose";
+    ignerr << "Empty pose topic generated for pose_publisher system. "
+           << "Setting to " << poseTopic << std::endl;
+  }
   std::string staticPoseTopic = poseTopic + "_static";
 
   if (this->dataPtr->usePoseV)