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Co-authored-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Andrew Ealovega <[email protected]>

.gitignore

@@ -12,3 +12,6 @@ build_*
 
 .ycm_extra_conf.py
 *.orig
+
+# clangd index
+.cache

src/systems/ackermann_steering/AckermannSteering.cc

@@ -346,10 +346,21 @@ void AckermannSteering::Configure(const Entity &_entity,
   this->dataPtr->odomPub = this->dataPtr->node.Advertise<msgs::Odometry>(
       odomTopic);
 
-  std::string tfTopic{"/model/" + this->dataPtr->model.Name(_ecm) + 
-    "/tf"};
-  if (_sdf->HasElement("tf_topic"))
-    tfTopic = _sdf->Get<std::string>("tf_topic");
+  std::vector<std::string> tfTopics;
+  if (_sdf->HasElement("tf_topic")) 
+  {
+    tfTopics.push_back(_sdf->Get<std::string>("tf_topic"));
+  }
+  tfTopics.push_back("/model/" + this->dataPtr->model.Name(_ecm) +
+    "/tf");
+  auto tfTopic = validTopic(tfTopics);
+  if (tfTopic.empty())
+  {
+    ignerr << "AckermannSteering plugin invalid tf topic name "
+           << "Failed to initialize." << std::endl;
+    return;
+  }
+
   this->dataPtr->tfPub = this->dataPtr->node.Advertise<msgs::Pose_V>(
       tfTopic);
 

src/systems/ackermann_steering/AckermannSteering.hh

@@ -92,7 +92,7 @@ namespace systems
   ///
   /// `<tf_topic>`: Custom topic on which this system will publish the
   /// transform from `frame_id` to `child_frame_id`. This element is optional,
-  ///  and the default value is `/model/{name_of_model}/tf`.
+  /// and the default value is `/model/{name_of_model}/tf`.
   ///
   /// `<frame_id>`: Custom `frame_id` field that this system will use as the
   /// origin of the odometry transform in both the `<tf_topic>`
@@ -104,7 +104,7 @@ namespace systems
   /// the target of the odometry transform in both the `<tf_topic>`
   /// `ignition.msgs.Pose_V` message and the `<odom_topic>`
   /// `ignition.msgs.Odometry` message. This element if optional,
-  ///  and the default value is `{name_of_model}/{name_of_link}`.
+  /// and the default value is `{name_of_model}/{name_of_link}`.
   ///
   /// A robot with rear drive and front steering would have one each
   /// of left_joint, right_joint, left_steering_joint and