fix(behavior_path_planner): unsafe mutex operation (tier4#1005)

Signed-off-by: NorahXiong <norah.xiong@autocore.ai>
boyali · Sep 28, 2022 · b150dcd · b150dcd
1 parent 019cbf6
commit b150dcd
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -521,6 +521,8 @@ void BehaviorPathPlannerNode::run()
 
   // behavior_path_planner runs only in LANE DRIVING scenario.
   if (current_scenario_->current_scenario != Scenario::LANEDRIVING) {
+    mutex_bt_.unlock();  // for bt_manager_
+    mutex_pd_.unlock();  // for planner_data_
     return;
   }