Skip to content

Make mapUpdateLoop() indicator variables to be thread-safe #3308

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
SteveMacenski merged 1 commit into from
Dec 6, 2022
Merged

Make mapUpdateLoop() indicator variables to be thread-safe #3308

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 4 additions & 3 deletions nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,7 @@
#ifndef NAV2_COSTMAP_2D__COSTMAP_2D_ROS_HPP_
#define NAV2_COSTMAP_2D__COSTMAP_2D_ROS_HPP_

#include <atomic>
#include <memory>
#include <string>
#include <vector>
Expand Down Expand Up @@ -342,9 +343,9 @@ class Costmap2DROS : public nav2_util::LifecycleNode
*/
void mapUpdateLoop(double frequency);
bool map_update_thread_shutdown_{false};
bool stop_updates_{false};
bool initialized_{false};
bool stopped_{true};
std::atomic<bool> stop_updates_{false};
std::atomic<bool> initialized_{false};
std::atomic<bool> stopped_{true};
std::unique_ptr<std::thread> map_update_thread_; ///< @brief A thread for updating the map
rclcpp::Time last_publish_{0, 0, RCL_ROS_TIME};
rclcpp::Duration publish_cycle_{1, 0};
Expand Down