Update theta_star_planner.cpp (ros-navigation#3918) (ros-navigation#3922

) (cherry picked from commit 0629ff3) Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
EnjoyRobotics · Nov 20, 2023 · 8679fc6 · 8679fc6
1 parent 9898534
commit 8679fc6
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/nav2_theta_star_planner/src/theta_star_planner.cpp b/nav2_theta_star_planner/src/theta_star_planner.cpp
@@ -91,6 +91,8 @@ nav_msgs::msg::Path ThetaStarPlanner::createPlan(
   nav_msgs::msg::Path global_path;
   auto start_time = std::chrono::steady_clock::now();
 
+  std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> lock(*(planner_->costmap_->getMutex()));
+
   // Corner case of start and goal beeing on the same cell
   unsigned int mx_start, my_start, mx_goal, my_goal;
   if (!planner_->costmap_->worldToMap(