fix(ndt_scan_matcher): fixed a lock scope in update_ndt (autowarefoun…

…dation#5951)

Fixed the lock scope in update_ndt

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

localization/ndt_scan_matcher/src/map_update_module.cpp

@@ -144,36 +144,37 @@ void MapUpdateModule::update_ndt(
   }
   const auto exe_start_time = std::chrono::system_clock::now();
 
-  NormalDistributionsTransform backup_ndt = *ndt_ptr_;
+  const size_t add_size = maps_to_add.size();
+
+  // Perform heavy processing outside of the lock scope
+  std::vector<pcl::shared_ptr<pcl::PointCloud<PointTarget>>> points_pcl(add_size);
+  for (size_t i = 0; i < add_size; i++) {
+    points_pcl[i] = pcl::make_shared<pcl::PointCloud<PointTarget>>();
+    pcl::fromROSMsg(maps_to_add[i].pointcloud, *points_pcl[i]);
+  }
+
+  (*ndt_ptr_mutex_).lock();
 
   // Add pcd
-  for (const auto & map_to_add : maps_to_add) {
-    pcl::shared_ptr<pcl::PointCloud<PointTarget>> map_points_ptr(new pcl::PointCloud<PointTarget>);
-    pcl::fromROSMsg(map_to_add.pointcloud, *map_points_ptr);
-    backup_ndt.addTarget(map_points_ptr, map_to_add.cell_id);
+  for (size_t i = 0; i < add_size; i++) {
+    ndt_ptr_->addTarget(points_pcl[i], maps_to_add[i].cell_id);
   }
 
   // Remove pcd
   for (const std::string & map_id_to_remove : map_ids_to_remove) {
-    backup_ndt.removeTarget(map_id_to_remove);
+    ndt_ptr_->removeTarget(map_id_to_remove);
   }
 
-  backup_ndt.createVoxelKdtree();
+  ndt_ptr_->createVoxelKdtree();
+
+  (*ndt_ptr_mutex_).unlock();
 
   const auto exe_end_time = std::chrono::system_clock::now();
   const auto duration_micro_sec =
     std::chrono::duration_cast<std::chrono::microseconds>(exe_end_time - exe_start_time).count();
   const auto exe_time = static_cast<double>(duration_micro_sec) / 1000.0;
   RCLCPP_INFO(logger_, "Time duration for creating new ndt_ptr: %lf [ms]", exe_time);
 
-  // swap
-  (*ndt_ptr_mutex_).lock();
-  // ToDo (kminoda): Here negligible NDT copy occurs during the new map loading phase, which should
-  // ideally be avoided. But I will leave this for now since I cannot come up with a solution other
-  // than using pointer of pointer.
-  *ndt_ptr_ = backup_ndt;
-  (*ndt_ptr_mutex_).unlock();
-
   publish_partial_pcd_map();
 }