Lock parent costmap mutex on updateBounds to avoid deadlock when clearing an area (SteveMacenski#247)

Author: corot

src/spatio_temporal_voxel_layer.cpp

@@ -725,6 +725,10 @@ void SpatioTemporalVoxelLayer::updateBounds(
     return;
   }
 
+  // Required because UpdateROSCostmap will also lock if AFTER we lock here voxel_grid_lock,
+  // and if clearArea is called in between, we will have a deadlock
+  boost::unique_lock<mutex_t> cm_lock(*getMutex());
+
   boost::recursive_mutex::scoped_lock lock(_voxel_grid_lock);
 
   // Steve's Note June 22, 2018