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Fix liveliness core dump caused by unprotected code (#2828)
* fix: liveliness core dump caused by omit mutex lock * Refactor that includes the fix and speeds things up Signed-off-by: Miguel Barro <miguelbarro@eprosima.com> * Fixing Clang warnings Signed-off-by: Miguel Barro <miguelbarro@eprosima.com> Co-authored-by: jim <jim@jim-ubuntu> Co-authored-by: Miguel Barro <miguelbarro@eprosima.com>
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