Configurable joint state publisher's topic

src/systems/joint_state_publisher/JointStatePublisher.cc

@@ -31,6 +31,7 @@
 #include "ignition/gazebo/components/JointVelocity.hh"
 #include "ignition/gazebo/components/ParentEntity.hh"
 #include "ignition/gazebo/components/Pose.hh"
+#include "ignition/gazebo/Util.hh"
 
 using namespace ignition;
 using namespace gazebo;
@@ -89,6 +90,14 @@ void JointStatePublisher::Configure(
  this->CreateComponents(_ecm, joint);
  }
  }
+
+ // Advertise the state topic
+ // Sets to provided topic if available
+ if (_sdf->HasElement("topic"))
+ {
+ this->topic = _sdf->Get<std::string>("topic");
+ }
+
 }
 
 //////////////////////////////////////////////////
@@ -142,11 +151,26 @@ void JointStatePublisher::PostUpdate(const UpdateInfo &_info,
  worldName = _ecm.Component<components::Name>(
  parentEntity->Data())->Data();
 
- // Advertise the state topic
- std::string topic = std::string("/world/") + worldName + "/model/"
- + this->model.Name(_ecm) + "/joint_state";
+ // if topic not set it will be empty
+ std::vector<std::string> topics;
+ // this helps avoid unecesarry invalid topic error
+ if (!this->topic.empty())
+ {
+ topics.push_back(this->topic);
+ }
+ topics.push_back(std::string("/world/") + worldName + "/model/"
+ + this->model.Name(_ecm) + "/joint_state");
+
+ this->topic = validTopic(topics);
+ if (this->topic.empty())
+ {
+ ignerr << "No valid topics for JointStatePublisher could be found."
+ << "Make sure World/Model name does'nt contain invalid characters.\n";
+ return;
+ }
+
  this->modelPub = std::make_unique<transport::Node::Publisher>(
- this->node.Advertise<msgs::Model>(topic));
+ this->node.Advertise<msgs::Model>(this->topic));
  }
  }
 

src/systems/joint_state_publisher/JointStatePublisher.hh

@@ -20,6 +20,7 @@
 
 #include <memory>
 #include <set>
+#include <string>
 #include <ignition/gazebo/Model.hh>
 #include <ignition/transport/Node.hh>
 #include <ignition/gazebo/System.hh>
@@ -82,6 +83,9 @@ namespace systems
 
  /// \brief The joints that will be published.
  private: std::set<Entity> joints;
+
+ /// \brief The topic
+ private: std::string topic;
  };
  }
 }