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[bug] base_local_planner may cause core dump in multi-thread situation #1173

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ZahirGong opened this issue Oct 27, 2021 · 0 comments
Open

[bug] base_local_planner may cause core dump in multi-thread situation #1173

ZahirGong opened this issue Oct 27, 2021 · 0 comments
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@ZahirGong
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the function getGoalPose() check the tf of the last element of global_plan, however, the global_plan could be modified in other thread in multi-thread situation which will cause core dump. Because there is no mutex lock in reader and writer, it is ok in move_base for single thread using.
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@mikeferguson @ZahirGong