Fixed invalid service names

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
gazebosim · Sep 7, 2023 · f050411 · f050411
1 parent 58a0c0b
commit f050411
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Showing 2 changed files with 11 additions and 4 deletions.
diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc
@@ -47,7 +47,7 @@
 #include "gz/sim/Events.hh"
 #include "gz/sim/SdfEntityCreator.hh"
 #include "gz/sim/Util.hh"
-
+#include "gz/transport/TopicUtils.hh"
 #include "network/NetworkManagerPrimary.hh"
 #include "SdfGenerator.hh"
 
@@ -100,7 +100,14 @@ SimulationRunner::SimulationRunner(const sdf::World *_world,
   }
 
   // Keep world name
-  this->worldName = _world->Name();
+  this->worldName = transport::TopicUtils::AsValidTopic(_world->Name());
+
+  auto validWorldName = transport::TopicUtils::AsValidTopic(worldName);
+  if (this->worldName.empty())
+  {
+    gzerr << "Can't start simulation runner with this world name [" << worldName << "]." << std::endl;
+    return;
+  }
 
   this->parametersRegistry = std::make_unique<
     gz::transport::parameters::ParametersRegistry>(

diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc
@@ -648,7 +648,7 @@ void UserCommands::Configure(const Entity &_entity,
 
   // Pose vector service
   std::string poseVectorService{
-    "/world/" + worldName + "/set_pose_vector"};
+    "/world/" + validWorldName + "/set_pose_vector"};
   this->dataPtr->node.Advertise(poseVectorService,
       &UserCommandsPrivate::PoseVectorService, this->dataPtr.get());
 
@@ -702,7 +702,7 @@ void UserCommands::Configure(const Entity &_entity,
 
   // Visual service
   std::string visualService
-      {"/world/" + worldName + "/visual_config"};
+      {"/world/" + validWorldName + "/visual_config"};
   this->dataPtr->node.Advertise(visualService,
       &UserCommandsPrivate::VisualService, this->dataPtr.get());