add time out to wait to avoid deadlock

Signed-off-by: Ian Chen <ichen@openrobotics.org>
gazebosim · Jun 21, 2023 · 8743ce1 · 8743ce1
1 parent 001dd9b
commit 8743ce1
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
@@ -280,12 +280,15 @@ void SensorsPrivate::RunOnce()
 {
   {
     std::unique_lock<std::mutex> cvLock(this->renderMutex);
-    this->renderCv.wait(cvLock, [this]()
+    this->renderCv.wait_for(cvLock, std::chrono::microseconds(1000), [this]()
     {
       return !this->running || this->updateAvailable;
     });
   }
 
+  if (!this->updateAvailable)
+    return;
+
   if (!this->running)
     return;