Fix race due unprotected access to callbacks_ in roscpp client (#1595)

ros · Aug 3, 2020 · df09637 · df09637
1 parent e331112
commit df09637
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/clients/roscpp/src/libros/publication.cpp b/clients/roscpp/src/libros/publication.cpp
@@ -324,6 +324,8 @@ void Publication::dropAllConnections()
 
 void Publication::peerConnect(const SubscriberLinkPtr& sub_link)
 {
+  boost::mutex::scoped_lock lock(callbacks_mutex_);
+
   V_Callback::iterator it = callbacks_.begin();
   V_Callback::iterator end = callbacks_.end();
   for (; it != end; ++it)
@@ -339,6 +341,8 @@ void Publication::peerConnect(const SubscriberLinkPtr& sub_link)
 
 void Publication::peerDisconnect(const SubscriberLinkPtr& sub_link)
 {
+  boost::mutex::scoped_lock lock(callbacks_mutex_);
+
   V_Callback::iterator it = callbacks_.begin();
   V_Callback::iterator end = callbacks_.end();
   for (; it != end; ++it)