When the StaticLayer receives an incomingMap or incomingUpdate that changes the dimensions of the costmap during a updateMap in the LayeredCostmap, the updateCosts of the StaticLayer can cause getCost of the StaticLayer to do an out of bounds read of the underlying costmap.

The problem is that the dimension of the costmaps should not change between the updateBounds and the updateCosts calls in the updateMap function of the LayeredCostmap.

To resolve this issue, the incomingMap and incomingUpdate should lock the mutex of the layeredCostmap instead of it's local mutex. Then also the local locks in updateBounds and processMap can be removed