lock before rcl_set_ros_time_override

daisukes · daisukes · commit 4a2579f27fe7 · 2020-08-10T09:03:56.000-04:00
Signed-off-by: Daisuke Sato &lt;daisukes@cmu.edu&gt;
diff --git a/rclcpp/src/rclcpp/time_source.cpp b/rclcpp/src/rclcpp/time_source.cpp
@@ -192,6 +192,7 @@ void TimeSource::set_clock(
     enable_ros_time(clock);
   }
 
+  std::lock_guard<std::mutex> clock_guard(clock->get_clock_mutex());
   auto ret = rcl_set_ros_time_override(clock->get_clock_handle(), rclcpp::Time(*msg).nanoseconds());
   if (ret != RCL_RET_OK) {
     rclcpp::exceptions::throw_from_rcl_error(

Original file line number	Diff line number	Diff line change
`@@ -192,6 +192,7 @@ void TimeSource::set_clock(`
`192`	`192`	`enable_ros_time(clock);`
`193`	`193`	`}`
`194`	`194`
	`195`	`+ std::lock_guard<std::mutex> clock_guard(clock->get_clock_mutex());`
`195`	`196`	`auto ret = rcl_set_ros_time_override(clock->get_clock_handle(), rclcpp::Time(*msg).nanoseconds());`
`196`	`197`	`if (ret != RCL_RET_OK) {`
`197`	`198`	`rclcpp::exceptions::throw_from_rcl_error(`