Mutex updateMap, as it gets also called from MBF service (#103)

rapyuta-robotics · Nov 12, 2024 · 9d3856d · 9d3856d
1 parent dca95ff
commit 9d3856d
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/costmap_2d/include/costmap_2d/costmap_2d_ros.h b/costmap_2d/include/costmap_2d/costmap_2d_ros.h
@@ -277,7 +277,7 @@ class Costmap2DROS
   Costmap2DPublisher* publisher_;
   dynamic_reconfigure::Server<costmap_2d::Costmap2DConfig> *dsrv_;
 
-  boost::recursive_mutex configuration_mutex_;
+  boost::recursive_mutex update_mutex_;
 
   ros::Subscriber footprint_sub_;
   ros::Publisher footprint_pub_;

diff --git a/costmap_2d/src/costmap_2d_ros.cpp b/costmap_2d/src/costmap_2d_ros.cpp
@@ -411,9 +411,6 @@ void Costmap2DROS::setUnpaddedRobotFootprint(const std::vector<geometry_msgs::Po
 
 void Costmap2DROS::movementCB(const ros::TimerEvent &event)
 {
-  // don't allow configuration to happen while this check occurs
-  // boost::recursive_mutex::scoped_lock mcl(configuration_mutex_);
-
   geometry_msgs::PoseStamped new_pose;
 
   if (!getRobotPose(new_pose))
@@ -482,6 +479,9 @@ void Costmap2DROS::mapUpdateLoop(double frequency)
 
 void Costmap2DROS::updateMap()
 {
+  // allow parallel calls, in case user wants to update without waiting for the update loop
+  boost::recursive_mutex::scoped_lock lock(update_mutex_);
+
   if (!stop_updates_)
   {
     // get global pose