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Add resources_lock_ lock_guards to avoid race condition when loading robot_description through topic (backport #1451) #1600

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Add resources_lock_ lock_guards to avoid race condition when loading robot_description through topic (backport #1451) #1600

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2041a87
Add resources_lock_ lock_guards to avoid race condition when loading …
saikishor Jul 1, 2024
7bdfba7
Fix merge conflicts
christophfroehlich Jul 30, 2024
15a7d5f
Fix format
christophfroehlich Jul 30, 2024
2a46768
Merge branch 'iron' into mergify/bp/iron/pr-1451
christophfroehlich Jul 30, 2024
ff32539
Merge branch 'iron' into mergify/bp/iron/pr-1451
christophfroehlich Aug 14, 2024
61d0374
Merge branch 'iron' into mergify/bp/iron/pr-1451
destogl Aug 15, 2024
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2 changes: 2 additions & 0 deletions hardware_interface/src/resource_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -767,6 +767,7 @@ void ResourceManager::load_urdf(
const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
if (load_and_initialize_components)
{
std::lock_guard<std::recursive_mutex> resource_guard(resources_lock_);
for (const auto & individual_hardware_info : hardware_info)
{
if (individual_hardware_info.type == actuator_type)
Expand Down Expand Up @@ -1287,6 +1288,7 @@ return_type ResourceManager::set_component_state(
return false;
};

std::lock_guard<std::recursive_mutex> guard(resources_lock_);
bool found = find_set_component_state(
std::bind(&ResourceStorage::set_component_state<Actuator>, resource_storage_.get(), _1, _2),
resource_storage_->actuators_);
Expand Down
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