backport pull-request ros-navigation#2712 to foxy (ros-navigation#2776)

umdlife · Jan 19, 2022 · d1ed5e4 · d1ed5e4
1 parent 8a8b4d2
commit d1ed5e4
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diff --git a/nav2_amcl/include/nav2_amcl/amcl_node.hpp b/nav2_amcl/include/nav2_amcl/amcl_node.hpp
@@ -160,6 +160,7 @@ class AmclNode : public nav2_util::LifecycleNode
   // Pose-generating function used to uniformly distribute particles over the map
   static pf_vector_t uniformPoseGenerator(void * arg);
   pf_t * pf_{nullptr};
+  std::mutex pf_mutex_;
   bool pf_init_;
   pf_vector_t pf_odom_pose_;
   int resample_count_{0};

diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -505,6 +505,8 @@ AmclNode::globalLocalizationCallback(
   const std::shared_ptr<std_srvs::srv::Empty::Request>/*req*/,
   std::shared_ptr<std_srvs::srv::Empty::Response>/*res*/)
 {
+  std::lock_guard<std::mutex> lock(pf_mutex_);
+
   RCLCPP_INFO(get_logger(), "Initializing with uniform distribution");
 
   pf_init_model(
@@ -529,6 +531,8 @@ AmclNode::nomotionUpdateCallback(
 void
 AmclNode::initialPoseReceived(geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg)
 {
+  std::lock_guard<std::mutex> lock(pf_mutex_);
+
   RCLCPP_INFO(get_logger(), "initialPoseReceived");
 
   if (msg->header.frame_id == "") {
@@ -626,6 +630,8 @@ AmclNode::handleInitialPose(geometry_msgs::msg::PoseWithCovarianceStamped & msg)
 void
 AmclNode::laserReceived(sensor_msgs::msg::LaserScan::ConstSharedPtr laser_scan)
 {
+  std::lock_guard<std::mutex> lock(pf_mutex_);
+
   // Since the sensor data is continually being published by the simulator or robot,
   // we don't want our callbacks to fire until we're in the active state
   if (!active_) {return;}