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Fix InflationLayer resource locking problem (#1931) #1952

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Merged
merged 1 commit into from
Aug 19, 2020
Merged

Fix InflationLayer resource locking problem (#1931) #1952

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11 changes: 10 additions & 1 deletion nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@

#include <map>
#include <vector>
#include <mutex>

#include "rclcpp/rclcpp.hpp"
#include "nav2_costmap_2d/layer.hpp"
Expand Down Expand Up @@ -77,7 +78,7 @@ class InflationLayer : public Layer
public:
InflationLayer();

~InflationLayer() override = default;
~InflationLayer();

void onInitialize() override;
void updateBounds(
Expand Down Expand Up @@ -115,6 +116,13 @@ class InflationLayer : public Layer
return cost;
}

// Provide a typedef to ease future code maintenance
typedef std::recursive_mutex mutex_t;
mutex_t * getMutex()
{
return access_;
}

protected:
void onFootprintChanged() override;

Expand Down Expand Up @@ -184,6 +192,7 @@ class InflationLayer : public Layer

// Indicates that the entire costmap should be reinflated next time around.
bool need_reinflation_;
mutex_t * access_;
};

} // namespace nav2_costmap_2d
Expand Down
8 changes: 8 additions & 0 deletions nav2_costmap_2d/plugins/inflation_layer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,6 +71,12 @@ InflationLayer::InflationLayer()
last_max_x_(std::numeric_limits<double>::max()),
last_max_y_(std::numeric_limits<double>::max())
{
access_ = new mutex_t();
}

InflationLayer::~InflationLayer()
{
delete access_;
}

void
Expand Down Expand Up @@ -160,6 +166,7 @@ InflationLayer::updateCosts(
int max_i,
int max_j)
{
std::lock_guard<Costmap2D::mutex_t> guard(*getMutex());
if (!enabled_ || (cell_inflation_radius_ == 0)) {
return;
}
Expand Down Expand Up @@ -305,6 +312,7 @@ InflationLayer::enqueue(
void
InflationLayer::computeCaches()
{
std::lock_guard<Costmap2D::mutex_t> guard(*getMutex());
if (cell_inflation_radius_ == 0) {
return;
}
Expand Down