FIX: potential race condition

Author: jlblancoc

module/src/LidarOdometry_InitialLocalization.cpp

@@ -196,23 +196,27 @@ void LidarOdometry::handleInitialLocalizationStateEstimation()
   // Check if state estimator has converged
   mrpt::poses::CPose3DPDFGaussian estimatedPose;
 
-  // First, ensure we have geo-referencing
-  // (either from loaded map or from state estimator)
-  bool hasGeoRef =
-    state_.local_map->georeferencing.has_value() || state_.external_georef.has_value();
-
-  if (!hasGeoRef) {
-    MRPT_LOG_THROTTLE_INFO(
-      5.0, "Waiting for geo-referencing (from loaded map or state estimator)...");
-    return;  // Not ready yet
-  }
+  // Snapshot georef state under lock to avoid data race with
+  // onExternalMapUpdate which writes state_.external_georef concurrently.
+  {
+    auto lckState = mrpt::lockHelper(state_mtx_);
+
+    const bool hasGeoRef =
+      state_.local_map->georeferencing.has_value() || state_.external_georef.has_value();
+
+    if (!hasGeoRef) {
+      MRPT_LOG_THROTTLE_INFO(
+        5.0, "Waiting for geo-referencing (from loaded map or state estimator)...");
+      return;  // Not ready yet
+    }
 
-  // Apply external georef to local map if needed
-  if (!state_.local_map->georeferencing.has_value() && state_.external_georef.has_value()) {
-    state_.local_map->georeferencing.emplace();
-    state_.local_map->georeferencing->geo_coord = state_.external_georef->geo_coord;
-    state_.local_map->georeferencing->T_enu_to_map = state_.external_georef->T_enu_to_map;
-    state_.mark_local_map_georef_as_updated();
+    // Apply external georef to local map if needed
+    if (!state_.local_map->georeferencing.has_value() && state_.external_georef.has_value()) {
+      state_.local_map->georeferencing.emplace();
+      state_.local_map->georeferencing->geo_coord = state_.external_georef->geo_coord;
+      state_.local_map->georeferencing->T_enu_to_map = state_.external_georef->T_enu_to_map;
+      state_.mark_local_map_georef_as_updated();
+    }
   }
 
   // Now check if state estimator has converged