ros机制中mutex lock failed导致节点异常退出问题解决

在执行 roslaunch turtlebot_navigation xxxxx时，遇到问题

process[move_base-15]: started with pid [10784]
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
what():  boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[move_base-15] process has died [pid 10784, exit code -6, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/rocky/.ros/log/fac44b2a-6d80-11e5-8d64-d30c77a21d38/move_base-15.log].
log file: /home/rocky/.ros/log/fac44b2a-6d80-11e5-8d64-d30c77a21d38/move_base-15*.log

导致move_base节点异常退出，而后就出现drop map 100%的情况

在网上找了很多资料，前期的集中在drop map上，然后查看tf，node，找了很久都没有找到问题跟因