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Fix costmap locking n Theta* (backport #3918) #3922

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Oct 30, 2023
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Fix costmap locking n Theta* (backport #3918) #3922

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2 changes: 2 additions & 0 deletions nav2_theta_star_planner/src/theta_star_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
planner_->costmap_->worldToMap(start.pose.position.x, start.pose.position.y, mx_start, my_start);
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