From d70c6564e262f075283b02ee1efe4d77b9fa2b65 Mon Sep 17 00:00:00 2001
From: yushi-minemura <67675657+yushi-minemura@users.noreply.github.com>
Date: Thu, 7 Nov 2024 11:38:06 +0900
Subject: [PATCH] remove unnecessary mutex lock

---
 odrive_node/src/odrive_can_node.cpp | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/odrive_node/src/odrive_can_node.cpp b/odrive_node/src/odrive_can_node.cpp
index 0450bde..6af79c5 100644
--- a/odrive_node/src/odrive_can_node.cpp
+++ b/odrive_node/src/odrive_can_node.cpp
@@ -54,10 +54,7 @@ void ODriveCanNode::deinit() {
     if (axis_idle_on_shutdown_) {
         struct can_frame frame;
         frame.can_id = node_id_ << 5 | CmdId::kSetAxisState;
-        {
-            std::unique_lock<std::mutex> guard(axis_state_mutex_);
-            write_le<uint32_t>(ODriveAxisState::AXIS_STATE_IDLE, frame.data);
-        }
+        write_le<uint32_t>(ODriveAxisState::AXIS_STATE_IDLE, frame.data);
         frame.can_dlc = 4;
         can_intf_.send_can_frame(frame);
     }