Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• ROS2 Version:
  • Foxy release src build

Steps to reproduce issue

There is an issue in making plans while updating costmap.
I have a large map and sometimes got undesired results of plans with incomplete costmaps.

Expected behavior

Guarantees making plans with complete costmaps.

Additional information

I could work around this problem by adding a lock before making a plan,
CMU-cabot@ba6b87e

I guess, it may be better to lock only while copying costmap data into the planner instead of the entire planning process, but this means each planner plugin needs to take care of it.
CMU-cabot@04ceabe

Could you please let me know your thoughts.