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fix data race: addFilter() and resizeMap() can be executed concurrently #3518

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merged 1 commit into from
Mar 30, 2023
Merged

fix data race: addFilter() and resizeMap() can be executed concurrently #3518

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6 changes: 2 additions & 4 deletions nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -152,10 +152,8 @@ class LayeredCostmap
/**
* @brief Add a new costmap filter plugin to the filters vector to process
*/
void addFilter(std::shared_ptr<Layer> filter)
{
filters_.push_back(filter);
}
void addFilter(std::shared_ptr<Layer> filter);


/**
* @brief Get if the size of the costmap is locked
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6 changes: 6 additions & 0 deletions nav2_costmap_2d/src/layered_costmap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,12 @@ void LayeredCostmap::addPlugin(std::shared_ptr<Layer> plugin)
plugins_.push_back(plugin);
}

void LayeredCostmap::addFilter(std::shared_ptr<Layer> filter)
{
std::unique_lock<Costmap2D::mutex_t> lock(*(combined_costmap_.getMutex()));
filters_.push_back(filter);
}

void LayeredCostmap::resizeMap(
unsigned int size_x, unsigned int size_y, double resolution,
double origin_x,
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