Skip to content

Use mutex to protect costmap reads. #3877

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 5 commits into from
Oct 18, 2023
Merged

Use mutex to protect costmap reads. #3877

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
e16a44c
Use mutex to protect costmap reads.
Oct 11, 2023
8fd2899
Revert "Use mutex to protect costmap reads."
Oct 15, 2023
1b6039d
Lock costmap before running MPPI controller.
Oct 15, 2023
7c571f8
Fix typo.
Oct 16, 2023
2deccb1
Protect against costmap updates in MPP and RotationShim controllers.
Oct 18, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 4 additions & 1 deletion nav2_mppi_controller/src/controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -83,9 +83,12 @@ geometry_msgs::msg::TwistStamped MPPIController::computeVelocityCommands(
auto start = std::chrono::system_clock::now();
#endif

std::lock_guard<std::mutex> lock(*parameters_handler_->getLock());
std::lock_guard<std::mutex> param_lock(*parameters_handler_->getLock());
nav_msgs::msg::Path transformed_plan = path_handler_.transformPath(robot_pose);

nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> costmap_lock(*(costmap->getMutex()));

geometry_msgs::msg::TwistStamped cmd =
optimizer_.evalControl(robot_pose, robot_speed, transformed_plan, goal_checker);

Expand Down
3 changes: 3 additions & 0 deletions nav2_regulated_pure_pursuit_controller/src/regulated_pure_pursuit_controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -157,6 +157,9 @@ geometry_msgs::msg::TwistStamped RegulatedPurePursuitController::computeVelocity
{
std::lock_guard<std::mutex> lock_reinit(param_handler_->getMutex());

nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> lock(*(costmap->getMutex()));

// Update for the current goal checker's state
geometry_msgs::msg::Pose pose_tolerance;
geometry_msgs::msg::Twist vel_tolerance;
Expand Down
3 changes: 3 additions & 0 deletions nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,9 @@ geometry_msgs::msg::TwistStamped RotationShimController::computeVelocityCommands
nav2_core::GoalChecker * goal_checker)
{
if (path_updated_) {
nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> lock(*(costmap->getMutex()));

std::lock_guard<std::mutex> lock_reinit(mutex_);
try {
geometry_msgs::msg::Pose sampled_pt_base = transformPoseToBaseFrame(getSampledPathPt());
Expand Down