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Costmap lock while copying data in navfn planner #1913

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merged 2 commits into from
Aug 5, 2020
Merged

Costmap lock while copying data in navfn planner #1913

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04ceabe
acquire the costmap lock while copying data in navfn planner
daisukes Aug 4, 2020
bd981e9
add costmap lock to dwb local plannger
daisukes Aug 5, 2020
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4 changes: 4 additions & 0 deletions nav2_navfn_planner/src/navfn_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -174,13 +174,17 @@ NavfnPlanner::makePlan(
// clear the starting cell within the costmap because we know it can't be an obstacle
clearRobotCell(mx, my);

std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> lock(*(costmap_->getMutex()));

// make sure to resize the underlying array that Navfn uses
planner_->setNavArr(
costmap_->getSizeInCellsX(),
costmap_->getSizeInCellsY());

planner_->setCostmap(costmap_->getCharMap(), true, allow_unknown_);

lock.unlock();

int map_start[2];
map_start[0] = mx;
map_start[1] = my;
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