Consistently uses std::mutex rather than std::shared_mutex for state_…

…update_mutex_.
moveit · Jan 16, 2025 · 399e620 · 399e620
1 parent 83b2359
commit 399e620
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/...g/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp b/...g/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.hpp
@@ -562,7 +562,7 @@ class MOVEIT_PLANNING_SCENE_MONITOR_EXPORT PlanningSceneMonitor
   std::atomic<bool> state_update_pending_;
 
   // Lock for writing last_robot_state_update_wall_time_ and dt_state_update_
-  std::shared_mutex state_update_mutex_;
+  std::mutex state_update_mutex_;
 
   /// Last time the state was updated from current_state_monitor_
   // Only access this from callback functions (and constructor)

diff --git a/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp b/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp
@@ -1494,7 +1494,7 @@ void PlanningSceneMonitor::updateSceneWithCurrentState(bool skip_update_if_locke
 
     // Update state_update_mutex_ and last_robot_state_update_wall_time_
     {
-      std::unique_lock<std::shared_mutex> lock(state_update_mutex_);
+      std::unique_lock<std::mutex> lock(state_update_mutex_);
       last_robot_state_update_wall_time_ = std::chrono::system_clock::now();
       state_update_pending_.store(false);
     }