From e748cc2b7b505d98cf7c7c7e681d22c4320de0d6 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 8 Apr 2022 15:36:15 -0700 Subject: [PATCH 1/2] make sure pose publisher creates valid pose topics Signed-off-by: Ian Chen --- src/systems/pose_publisher/PosePublisher.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/src/systems/pose_publisher/PosePublisher.cc b/src/systems/pose_publisher/PosePublisher.cc index 6152c7d2a0..844eea0422 100644 --- a/src/systems/pose_publisher/PosePublisher.cc +++ b/src/systems/pose_publisher/PosePublisher.cc @@ -251,6 +251,7 @@ void PosePublisher::Configure(const Entity &_entity, _sdf->Get("use_pose_vector_msg", this->dataPtr->usePoseV).first; std::string poseTopic = scopedName(_entity, _ecm) + "/pose"; + poseTopic = transport::TopicUtils::AsValidTopic(poseTopic); std::string staticPoseTopic = poseTopic + "_static"; if (this->dataPtr->usePoseV) From 488d07b5552402c5c7ee1637c129f9d15744a159 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 11 Apr 2022 19:35:49 -0700 Subject: [PATCH 2/2] check empty topic Signed-off-by: Ian Chen --- src/systems/pose_publisher/PosePublisher.cc | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/systems/pose_publisher/PosePublisher.cc b/src/systems/pose_publisher/PosePublisher.cc index 844eea0422..010c88b10b 100644 --- a/src/systems/pose_publisher/PosePublisher.cc +++ b/src/systems/pose_publisher/PosePublisher.cc @@ -252,6 +252,12 @@ void PosePublisher::Configure(const Entity &_entity, 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)