CostmapLayer::matchSize may be executed concurrently (#3250)

* CostmapLayer::matchSize() add a mutex
ros-navigation · Oct 24, 2022 · 21eea4c · 21eea4c
1 parent 987fe90
commit 21eea4c
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(),