Data race in StaticLayer::updateCosts() (static_layer.cpp:463)

[Finder16]

Summary

A data race occurs in nav2_costmap_2d::StaticLayer.

Affected Location

• nav2_costmap_2d/plugins/static_layer.cpp:463

Observed Result

ThreadSanitizer reports a concurrent write in StaticLayer::updateCosts() and a read via Layer::isCurrent() in the planner path.

WARNING: ThreadSanitizer: data race                                                                                                                    
  Write of size 1 ...                                                                                                                                  
    #0 nav2_costmap_2d::StaticLayer::updateCosts(...) .../static_layer.cpp:463:12                                                                      
  Previous read of size 1 ...                                                                                                                          
    #0 nav2_costmap_2d::Layer::isCurrent() const .../layer.hpp:139:12                                                                                  
    #3 nav2_planner::PlannerServer::waitForCostmap() .../planner_server.cpp:278:25                                                                     
    #4 nav2_planner::PlannerServer::computePlan() .../planner_server.cpp:473:5                                                                         
SUMMARY: ThreadSanitizer: data race .../static_layer.cpp:463:12 in nav2_costmap_2d::StaticLayer::updateCosts(...)                                      

[SteveMacenski]

See #6009 (comment)