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Fix missing mutex in PlannerServer::isPathValid #3756

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Merged
SteveMacenski merged 1 commit into from
Aug 16, 2023
Merged

Fix missing mutex in PlannerServer::isPathValid #3756

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1 change: 1 addition & 0 deletions nav2_planner/src/planner_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -643,6 +643,7 @@ void PlannerServer::isPathValid(
* The lethal check starts at the closest point to avoid points that have already been passed
* and may have become occupied
*/
std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> lock(*(costmap_->getMutex()));
unsigned int mx = 0;
unsigned int my = 0;
for (unsigned int i = closest_point_index; i < request->path.poses.size(); ++i) {
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