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Costmap lock while copying data in navfn planner #1913

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Merged
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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8 changes: 8 additions & 0 deletions nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -325,6 +325,9 @@ DWBLocalPlanner::computeVelocityCommands(

prepareGlobalPlan(pose, transformed_plan, goal_pose);

nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> lock(*(costmap->getMutex()));
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This isn't the controller_server, this is a specific plugin. We should have this in the controller_server the way we have it in the planner_server

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@SteveMacenski SteveMacenski Aug 5, 2020 •
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See the nav2_controller package, its pretty much analog to the nav2_planner package

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I put the lock, not in nav2_planner but nav2_navfn_planner because if we put it in nav2_planner it will lock up not only while accessing costmap but also while calculating plans.

So, I put the lock here not in nav2_controller, considering performance.

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OK, we can do that. I'll file tickets on other plugins to implement this.


for (TrajectoryCritic::Ptr critic : critics_) {
if (critic->prepare(pose.pose, velocity, goal_pose.pose, transformed_plan) == false) {
RCLCPP_WARN(rclcpp::get_logger("DWBLocalPlanner"), "A scoring function failed to prepare");
Expand All @@ -344,6 +347,8 @@ DWBLocalPlanner::computeVelocityCommands(
critic->debrief(cmd_vel.velocity);
}

lock.unlock();

pub_->publishLocalPlan(pose.header, best.traj);
pub_->publishCostGrid(costmap_ros_, critics_);

Expand All @@ -355,6 +360,9 @@ DWBLocalPlanner::computeVelocityCommands(
for (TrajectoryCritic::Ptr critic : critics_) {
critic->debrief(empty_cmd);
}

lock.unlock();

pub_->publishLocalPlan(pose.header, empty_traj);
pub_->publishCostGrid(costmap_ros_, critics_);

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4 changes: 4 additions & 0 deletions nav2_navfn_planner/src/navfn_planner.cpp
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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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