CostmapLayer::matchSize may be executed concurrently (ros-navigation#3250)

Cryst4L9527 · Joshua Wallace · commit c2f9f0beecd9 · 2022-11-30T10:02:53.000-05:00
* CostmapLayer::matchSize() add a mutex
diff --git a/nav2_costmap_2d/src/costmap_layer.cpp b/nav2_costmap_2d/src/costmap_layer.cpp
@@ -55,6 +55,7 @@ void CostmapLayer::touch(
 
 void CostmapLayer::matchSize()
 {
+  std::lock_guard<Costmap2D::mutex_t> guard(*getMutex());
   Costmap2D * master = layered_costmap_->getCostmap();
   resizeMap(
     master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(),

Original file line number	Diff line number	Diff line change
`@@ -55,6 +55,7 @@ void CostmapLayer::touch(`
`55`	`55`
`56`	`56`	`void CostmapLayer::matchSize()`
`57`	`57`	`{`
	`58`	`+ std::lock_guard<Costmap2D::mutex_t> guard(*getMutex());`
`58`	`59`	`Costmap2D * master = layered_costmap_->getCostmap();`
`59`	`60`	`resizeMap(`
`60`	`61`	`master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(),`