{"action":"created","comment":{"url":"https://api.github.com/repos/ros-planning/moveit_ros/pulls/comments/23038098","id":23038098,"diff_hunk":"@@ -331,7 +335,11 @@ void planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread()\n           if (new_scene_update_ == UPDATE_SCENE)\n             is_full = true;\n           else\n+          {\n+            occupancy_map_monitor::OccMapTree::ReadLock lock;\n+            if (octomap_monitor_) lock = octomap_monitor_->getOcTreePtr()->reading();","path":"planning/planning_scene_monitor/src/planning_scene_monitor.cpp","position":19,"original_position":19,"commit_id":"14c43765e6c3b26339f30648b652f58cc07c3911","original_commit_id":"14c43765e6c3b26339f30648b652f58cc07c3911","user":{"login":"jbohren","id":1253450,"avatar_url":"https://avatars.githubusercontent.com/u/1253450?v=3","gravatar_id":"","url":"https://api.github.com/users/jbohren","html_url":"https://github.com/jbohren","followers_url":"https://api.github.com/users/jbohren/followers","following_url":"https://api.github.com/users/jbohren/following{/other_user}","gists_url":"https://api.github.com/users/jbohren/gists{/gist_id}","starred_url":"https://api.github.com/users/jbohren/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jbohren/subscriptions","organizations_url":"https://api.github.com/users/jbohren/orgs","repos_url":"https://api.github.com/users/jbohren/repos","events_url":"https://api.github.com/users/jbohren/events{/privacy}","received_events_url":"https://api.github.com/users/jbohren/received_events","type":"User","site_admin":false},"body":"Maybe you'd prefer:\r\n\r\n```cpp\r\noccupancy_map_monitor::OccMapTree::ReadLock lock(octomap_monitor_ ? octomap_monitor_->getOcTreePtr()->reading() : ());\r\n```","created_at":"2015-01-15T19:53:07Z","updated_at":"2015-01-15T19:53:07Z","html_url":"https://github.com/ros-planning/moveit_ros/pull/554#discussion_r23038098","pull_request_url":"https://api.github.com/repos/ros-planning/moveit_ros/pulls/554","_links":{"self":{"href":"https://api.github.com/repos/ros-planning/moveit_ros/pulls/comments/23038098"},"html":{"href":"https://github.com/ros-planning/moveit_ros/pull/554#discussion_r23038098"},"pull_request":{"href":"https://api.github.com/repos/ros-planning/moveit_ros/pulls/554"}}},"pull_request":{"url":"https://api.github.com/repos/ros-planning/moveit_ros/pulls/554","id":27404732,"html_url":"https://github.com/ros-planning/moveit_ros/pull/554","diff_url":"https://github.com/ros-planning/moveit_ros/pull/554.diff","patch_url":"https://github.com/ros-planning/moveit_ros/pull/554.patch","issue_url":"https://api.github.com/repos/ros-planning/moveit_ros/issues/554","number":554,"state":"open","locked":false,"title":"perception: adding locks to planning scene monitor (RAII version)","user":{"login":"jbohren","id":1253450,"avatar_url":"https://avatars.githubusercontent.com/u/1253450?v=3","gravatar_id":"","url":"https://api.github.com/users/jbohren","html_url":"https://github.com/jbohren","followers_url":"https://api.github.com/users/jbohren/followers","following_url":"https://api.github.com/users/jbohren/following{/other_user}","gists_url":"https://api.github.com/users/jbohren/gists{/gist_id}","starred_url":"https://api.github.com/users/jbohren/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jbohren/subscriptions","organizations_url":"https://api.github.com/users/jbohren/orgs","repos_url":"https://api.github.com/users/jbohren/repos","events_url":"https://api.github.com/users/jbohren/events{/privacy}","received_events_url":"https://api.github.com/users/jbohren/received_events","type":"User","site_admin":false},"body":"fixes #291\r\nfixes #514 \r\n\r\nNote that this should unlock things properly in case `getPlanningSceneMsg` throws. It could be useful to clean up stuff elsewhere too.","created_at":"2015-01-15T03:55:47Z","updated_at":"2015-01-15T19:53:07Z","closed_at":null,"merged_at":null,"merge_commit_sha":"fa5fcc2c8b2a82ae29380c2747c6a20bd4f91f29","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/ros-planning/moveit_ros/pulls/554/commits","review_comments_url":"https://api.github.com/repos/ros-planning/moveit_ros/pulls/554/comments","review_comment_url":"https://api.github.com/repos/ros-planning/moveit_ros/pulls/comments/{number}","comments_url":"https://api.github.com/repos/ros-planning/moveit_ros/issues/554/comments","statuses_url":"https://api.github.com/repos/ros-planning/moveit_ros/statuses/14c43765e6c3b26339f30648b652f58cc07c3911","head":{"label":"jhu-lcsr-forks:fix-planning-scene-octodeath-raii","ref":"fix-planning-scene-octodeath-raii","sha":"14c43765e6c3b26339f30648b652f58cc07c3911","user":{"login":"jhu-lcsr-forks","id":2774969,"avatar_url":"https://avatars.githubusercontent.com/u/2774969?v=3","gravatar_id":"","url":"https://api.github.com/users/jhu-lcsr-forks","html_url":"https://github.com/jhu-lcsr-forks","followers_url":"https://api.github.com/users/jhu-lcsr-forks/followers","following_url":"https://api.github.com/users/jhu-lcsr-forks/following{/other_user}","gists_url":"https://api.github.com/users/jhu-lcsr-forks/gists{/gist_id}","starred_url":"https://api.github.com/users/jhu-lcsr-forks/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jhu-lcsr-forks/subscriptions","organizations_url":"https://api.github.com/users/jhu-lcsr-forks/orgs","repos_url":"https://api.github.com/users/jhu-lcsr-forks/repos","events_url":"https://api.github.com/users/jhu-lcsr-forks/events{/privacy}","received_events_url":"https://api.github.com/users/jhu-lcsr-forks/received_events","type":"Organization","site_admin":false},"repo":{"id":21803134,"name":"moveit_ros","full_name":"jhu-lcsr-forks/moveit_ros","owner":{"login":"jhu-lcsr-forks","id":2774969,"avatar_url":"https://avatars.githubusercontent.com/u/2774969?v=3","gravatar_id":"","url":"https://api.github.com/users/jhu-lcsr-forks","html_url":"https://github.com/jhu-lcsr-forks","followers_url":"https://api.github.com/users/jhu-lcsr-forks/followers","following_url":"https://api.github.com/users/jhu-lcsr-forks/following{/other_user}","gists_url":"https://api.github.com/users/jhu-lcsr-forks/gists{/gist_id}","starred_url":"https://api.github.com/users/jhu-lcsr-forks/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jhu-lcsr-forks/subscriptions","organizations_url":"https://api.github.com/users/jhu-lcsr-forks/orgs","repos_url":"https://api.github.com/users/jhu-lcsr-forks/repos","events_url":"https://api.github.com/users/jhu-lcsr-forks/events{/privacy}","received_events_url":"https://api.github.com/users/jhu-lcsr-forks/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/jhu-lcsr-forks/moveit_ros","description":"MoveIt! 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