fix use after free (ros-navigation#3910)

floatic-unicorn · Oct 28, 2023 · 57fa22f · 57fa22f
1 parent a11cdd8
commit 57fa22f
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/nav2_system_tests/src/planning/planner_tester.hpp b/nav2_system_tests/src/planning/planner_tester.hpp
@@ -62,6 +62,9 @@ class NavFnPlannerTester : public nav2_planner::PlannerServer
 
   void setCostmap(nav2_util::Costmap * costmap)
   {
+    std::unique_lock<nav2_costmap_2d::Costmap2D::mutex_t> lock(
+      *(costmap_ros_->getCostmap()->getMutex()));
+
     nav2_msgs::msg::CostmapMetaData prop;
     nav2_msgs::msg::Costmap cm = costmap->get_costmap(prop);
     prop = cm.metadata;