fix data race: addFilter() and resizeMap() can be executed concurrent…

…ly (#3518) Co-authored-by: Dirk Braunschweiger <dirk.braunschweiger@symovo.de>
ros-navigation · Jun 9, 2023 · 49e0756 · 49e0756
1 parent 0778686
commit 49e0756
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.hpp
@@ -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

diff --git a/nav2_costmap_2d/src/layered_costmap.cpp b/nav2_costmap_2d/src/layered_costmap.cpp
@@ -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,