test

libs/trajectory/trajectory.cpp

@@ -395,7 +395,7 @@ void Trajectory::parseAndPush(const vector<string> &vec, uint8_t index)
         trajPoint.rotation = {node_raw_info.w, node_raw_info.qx, node_raw_info.qy, node_raw_info.qz};
         //pose yaw take -M_PI/2!!!!!!!!!!!!!!!!!!
         trajPoint.rotation = trajPoint.rotation * Eigen::AngleAxisd(-M_PI/2, Eigen::Vector3d::UnitZ());
-        boost::unique_lock<boost::shared_lock> lock_node(Mtx_);
+        boost::unique_lock<boost::shared_mutex> lock_node(Mtx_);
         trajectory_.push_back(trajPoint);
 
         break;