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fix(rtabmap_slam): release scan mutex on conversion failure

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This commit is contained in:
Matthew Kotara
2026-09-22 16:30:22 +01:00
parent 11edc01d6a
commit adef11e0f9
3 changed files with 200 additions and 0 deletions
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rtabmap_slam/src/CoreWrapper.cpp
+2
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@@ -1801,6 +1801,7 @@ void CoreWrapper::commonLaserScanCallback(
rtabmap_.getMemory() && uStrNumCmp(rtabmap_.getMemory()->getDatabaseVersion(), "0.11.10") < 0))
{
RCLCPP_ERROR(this->get_logger(), "Could not convert laser scan msg! Aborting rtabmap update...");
syncDataMutex_.unlock();
return;
}
}
@@ -1819,6 +1820,7 @@ void CoreWrapper::commonLaserScanCallback(
scanCloudIs2d_))
{
RCLCPP_ERROR(this->get_logger(), "Could not convert 3d laser scan msg! Aborting rtabmap update...");
syncDataMutex_.unlock();
return;
}
}