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HKUST-Aerial-Robotics / Fast-Planner

A Robust and Efficient Trajectory Planner for Quadrotors
GNU General Public License v3.0
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thread safety issues about map updatig #32

Closed WangChanglong17 closed 4 years ago

WangChanglong17 commented 4 years ago

hello, I see that in map update thread , data was written to distance buffer. In other thread, data in distance was read. Does this exist thread safety issues?

ZbyLGsc commented 4 years ago

@WangChanglong17 There is no Multi-threaded Spinning in our code, therefore the planning and mapping are conducted in the same thread. You can easily validate what I claim by outputting something in the callbacks of mapping.

ZbyLGsc commented 4 years ago

FYI, http://wiki.ros.org/roscpp/Overview/Callbacks%20and%20Spinning