fix data race: VoxelLayer::matchSize may be executed concurrently (#2513

) Co-authored-by: Kai-Tao Xie <[email protected]>
ros-navigation · Sep 14, 2021 · e326d3f · e326d3f
1 parent b33e382
commit e326d3f
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/nav2_costmap_2d/plugins/voxel_layer.cpp b/nav2_costmap_2d/plugins/voxel_layer.cpp
@@ -110,6 +110,7 @@ VoxelLayer::~VoxelLayer()
 
 void VoxelLayer::matchSize()
 {
+  std::lock_guard<Costmap2D::mutex_t> guard(*getMutex());
   ObstacleLayer::matchSize();
   voxel_grid_.resize(size_x_, size_y_, size_z_);
   assert(voxel_grid_.sizeX() == size_x_ && voxel_grid_.sizeY() == size_y_);