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

…3250) * CostmapLayer::matchSize() add a mutex
jwallace42 · Nov 30, 2022 · c2f9f0b · c2f9f0b
1 parent f3ab862
commit c2f9f0b
Showing 1 changed file with 1 addition and 0 deletions.
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(),