warrant in TX

Ok so back when i was 14 i stole some makeup from kohls lol n i got a ticket n never went to court. The cop didnt check my ID or my moms or anything that had my name or hers on it he just asked for my name number n address n thats it. Im now 18 n i have a 3 month old n need to get my ID asap n drivers license but will i go to jail if i go to get my ID or how will they know ots me since i didnt show them any identification.