From f4340c6572fadf353f16cfd0522e88c3a0b43ecc Mon Sep 17 00:00:00 2001 From: Jose Luis Blanco-Claraco Date: Sat, 28 Sep 2024 16:27:17 +0200 Subject: [PATCH] BUGFIX: Prevent potential race condition --- mola_bridge_ros2/src/BridgeROS2.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/mola_bridge_ros2/src/BridgeROS2.cpp b/mola_bridge_ros2/src/BridgeROS2.cpp index 4390fe6c..7d06c90a 100644 --- a/mola_bridge_ros2/src/BridgeROS2.cpp +++ b/mola_bridge_ros2/src/BridgeROS2.cpp @@ -917,7 +917,9 @@ void BridgeROS2::doLookForNewMolaSubs() } // Advertise relocalization ROS 2 service now if not done already: - if (!molaSubs_.relocalization.empty() && !srvRelocGNNS_) + auto lckNode = mrpt::lockHelper(rosNodeMtx_); + + if (!molaSubs_.relocalization.empty() && !srvRelocGNNS_ && rosNode_) { using namespace std::placeholders; @@ -956,7 +958,7 @@ void BridgeROS2::doLookForNewMolaSubs() } // Advertise map server ROS 2 services now if not done already: - if (!molaSubs_.mapServers.empty() && !srvMapLoad_) + if (!molaSubs_.mapServers.empty() && !srvMapLoad_ && rosNode_) { using namespace std::placeholders;