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 | 1 | initial version |
The answer depends on whether you are using roscpp or rospy. It seems you are using roscpp because you mentioned std::vector. If you are simply using ros::spin or ros::spinOnce there is only a single thread handling callbacks so there should be no need for any sort of mutex.
If you'd like to use a multi-threaded approach to processing your callbacks, roscpp includes the ros::MultiThreadedSpinner and ros::AsyncSpinner. If using one of these spinners, you should take care to prevent access collisions.
This information was pulled from the Callbacks and Spinning roscpp Overview page.
| | 2 | No.2 Revision |
The answer depends on whether you are using roscpp or rospy. It seems you are using roscpp because you mentioned std::vector. If you are simply using ros::spin or ros::spinOnce there is only a single thread handling callbacks so there should be no need for any sort of mutex.
If you'd like to use a multi-threaded approach to processing your callbacks, roscpp includes the ros::MultiThreadedSpinner and ros::AsyncSpinner. If using one of these spinners, you should take care to prevent access collisions.
This information was pulled from the Callbacks and Spinning roscpp Overview page.
EDIT
IMO, it can be a bit difficult to find documentation on the rospy threading model (and I'm apparently too lazy to write a wiki page about it), but this ROS answers post has a clear and concise description.
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