Protect graph from parallel access during visualization.

SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS

GNU Lesser General Public License v2.1

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Protect graph from parallel access during visualization. #534

Closed malban closed 2 years ago

malban commented 2 years ago

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#497
Primary OS tested on	Ubuntu 20.04
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

Description of contribution in a few bullet points

Protect graph from parallel access during visualization.

@SteveMacenski I'm not sure if this fixes the issue or not, but it seems likely that a mutex is required here.

I can test this later today or tomorrow.

SteveMacenski commented 2 years ago

OK! Let me know and I can backport across the distributions

malban commented 2 years ago

@SteveMacenski Ok, I've tested the change, and I wasn't able to see any regressions such as deadlocking when either serializing or deserializing the map.

I also wasn't able to reproduce the original issue, on humble, either from loading a map at startup or calling the deserialize service, so I can't tell for sure if this will fix it. If the issue is unprotected access of the graph, then it could be sensitive to timing.

Maybe @Anton1B can check if this change resolves the issue for him on noetic?