Data race in CostmapSubscriber::costmapCallback() on costmap_received_

[Finder16]

Summary

A data race occurs in nav2_costmap_2d::CostmapSubscriber.

Affected Location

• nav2_costmap_2d/src/costmap_subscriber.cpp:93

Observed Result

ThreadSanitizer reports a concurrent write in costmap_subscriber.cpp:93 and a read in getCostmap().

WARNING: ThreadSanitizer: data race                                                                                                                    
  Write of size 1 ...                                                                                                                                  
    -> nav2_costmap_2d::CostmapSubscriber::costmapCallback(...) .../costmap_subscriber.cpp:93                                                          
  Previous read of size 1 ...                                                                                                                          
    -> nav2_costmap_2d::CostmapSubscriber::getCostmap() .../costmap_subscriber.cpp:49                                                                  
SUMMARY: ThreadSanitizer: data race (...libnav2_costmap_2d_client.so+0xf2ce7)