From 25f2c97eb909c48b96384c7cff7f7f36be8ca509 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 1 Jul 2024 19:45:11 +0200
Subject: [PATCH] Add resources_lock_ lock_guards to avoid race condition when
 loading robot_description through topic (#1451)

---
 hardware_interface/src/resource_manager.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
index 7be0cd0cb6..207fbf102d 100644
--- a/hardware_interface/src/resource_manager.cpp
+++ b/hardware_interface/src/resource_manager.cpp
@@ -1012,6 +1012,7 @@ bool ResourceManager::load_and_initialize_components(
   const std::string sensor_type = "sensor";
   const std::string actuator_type = "actuator";
 
+  std::lock_guard<std::recursive_mutex> resource_guard(resources_lock_);
   for (const auto & individual_hardware_info : hardware_info)
   {
     // Check for identical names
@@ -1597,6 +1598,7 @@ return_type ResourceManager::set_component_state(
     return false;
   };
 
+  std::lock_guard<std::recursive_mutex> guard(resources_lock_);
   bool found = find_set_component_state(
     std::bind(&ResourceStorage::set_component_state<Actuator>, resource_storage_.get(), _1, _2),
     resource_storage_->actuators_);