add resources lock at the beginning of the method

ros-controls · Mar 18, 2024 · 7dca6a2 · 7dca6a2
1 parent 178a6c8
commit 7dca6a2
Showing 1 changed file with 4 additions and 5 deletions.
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -767,23 +767,22 @@ void ResourceManager::load_urdf(
   const auto hardware_info = hardware_interface::parse_control_resources_from_urdf(urdf);
   if (load_and_initialize_components)
   {
+    std::lock_guard<std::recursive_mutex> resources_guard(resources_lock_);
     for (const auto & individual_hardware_info : hardware_info)
     {
       if (individual_hardware_info.type == actuator_type)
       {
-        std::scoped_lock guard(
-          resources_lock_, resource_interfaces_lock_, claimed_command_interfaces_lock_);
+        std::scoped_lock guard(resource_interfaces_lock_, claimed_command_interfaces_lock_);
         resource_storage_->load_and_initialize_actuator(individual_hardware_info);
       }
       if (individual_hardware_info.type == sensor_type)
       {
-        std::scoped_lock resources_guard(resources_lock_, resource_interfaces_lock_);
+        std::scoped_lock guard(resource_interfaces_lock_);
         resource_storage_->load_and_initialize_sensor(individual_hardware_info);
       }
       if (individual_hardware_info.type == system_type)
       {
-        std::scoped_lock guard(
-          resources_lock_, resource_interfaces_lock_, claimed_command_interfaces_lock_);
+        std::scoped_lock guard(resource_interfaces_lock_, claimed_command_interfaces_lock_);
         resource_storage_->load_and_initialize_system(individual_hardware_info);
       }
     }