From b2c576ba7fb8d9707b12b0c35afe14b081fad2fa Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Fri, 7 Jul 2023 13:44:17 -0700
Subject: [PATCH] add time out to wait to avoid deadlock (#2025)

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 src/systems/sensors/Sensors.cc | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
index 388fcbf953..a346076f6d 100644
--- 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;