Merged in gazebo_3.1_fix_deadlock (pull request #1152)

Fix deadlock for gazebo 3.1
gazebosim · Jul 21, 2014 · 8ca5af8 · 8ca5af8
2 parents 0af6fbd + ae41a4f
commit 8ca5af8
Showing 1 changed file with 4 additions and 5 deletions.
diff --git a/gazebo/physics/World.cc b/gazebo/physics/World.cc
@@ -66,6 +66,7 @@ using namespace physics;
 /// \brief Flag used to say if/when to clear all models.
 /// This will be replaced with a class member variable in Gazebo 3.0
 bool g_clearModels;
+boost::mutex g_deprecatedMutexReplaceInGazebo4;
 
 class ModelUpdate_TBB
 {
@@ -1667,8 +1668,7 @@ void World::ProcessFactoryMsgs()
   {
     try
     {
-      boost::recursive_mutex::scoped_lock lock(
-          *this->GetPhysicsEngine()->GetPhysicsUpdateMutex());
+      boost::mutex::scoped_lock lock(g_deprecatedMutexReplaceInGazebo4);
 
       ModelPtr model = this->LoadModel(*iter2, this->rootElement);
       model->Init();
@@ -2001,11 +2001,10 @@ uint32_t World::GetIterations() const
 //////////////////////////////////////////////////
 void World::RemoveModel(const std::string &_name)
 {
+  boost::mutex::scoped_lock flock(g_deprecatedMutexReplaceInGazebo4);
+
   // Remove all the dirty poses from the delete entity.
   {
-    boost::recursive_mutex::scoped_lock lock(
-        *this->GetPhysicsEngine()->GetPhysicsUpdateMutex());
-
     for (std::list<Entity*>::iterator iter2 = this->dirtyPoses.begin();
         iter2 != this->dirtyPoses.end();)
     {