Lock costmap in getCostsCallback (ros-navigation#5075)

* Add IsStoppedBTNode

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* add topic name + reformat

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* fix comment

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* fix abs

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* remove log

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* add getter functions for raw twist

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* remove unused code

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* use odomsmoother

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* fix formatting

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* update groot

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* Add test

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* reset at success

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* FIX velocity_threshold_

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* Fix stopped Node

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* Add tests  to odometry_utils

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* fix linting

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* lock costmap

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* improvement

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* remove spacing

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* remove unlock

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---------

Signed-off-by: Tony Najjar <[email protected]>
Signed-off-by: Sakshay Mahna <[email protected]>

Author: tonynajjar

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -831,6 +831,7 @@ void Costmap2DROS::getCostsCallback(
   unsigned int mx, my;
 
   Costmap2D * costmap = layered_costmap_->getCostmap();
+  std::unique_lock<Costmap2D::mutex_t> lock(*(costmap->getMutex()));
   response->success = true;
   for (const auto & pose : request->poses) {
     geometry_msgs::msg::PoseStamped pose_transformed;