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ANYbotics / elevation_mapping

Robot-centric elevation mapping for rough terrain navigation
BSD 3-Clause "New" or "Revised" License
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Visibility Cleanup (Possible) Deadlock #165

Open itaouil opened 3 years ago

itaouil commented 3 years ago

Hi :),

I am testing the elevation mapping package (thanks a lot for making it available), and I have noticed that whenever the visibility_cleanup or continuous_cleanup are set to true the program deadlocks on the call to the clear() routine in the ElevationMap.cpp class.

I have not carried out a thorough debugging yet, but given the consistency at which the lock happens, I would assume that is the case.

I also checked issue #129 where the same problem first appeared, and for which the update made should have fixed the issue, but it seems that was not the case when the clear() function is called within the pointCloudCallback and not as a service.

Were you aware of this?

P.S: I am using the master branch.

Best, Ilyass

maximilianwulf commented 3 years ago

Hi @itaouil, thank you, yes we are aware of this. But due to resource scarcity, this was not yet addressed. In case you want to submit a fix feel free to do so.

itaouil commented 3 years ago

Hi @maximilianwulf,

I added it to my todo list :).

I might get to it in the next few weeks or so and if I manage to fix it, I will certainly file in a pull-request.

maximilianwulf commented 3 years ago

That is very welcome, thank you.