diff --git a/crosbot_explore/include/crosbot_explore/explorerROS.hpp b/crosbot_explore/include/crosbot_explore/explorerROS.hpp
index 948bdfc3ac52e8a1f9313afb71b7ef8113f5f98b..5cf3583957cdc680af45f1bff15298286ae95415 100644
--- a/crosbot_explore/include/crosbot_explore/explorerROS.hpp
+++ b/crosbot_explore/include/crosbot_explore/explorerROS.hpp
@@ -56,8 +56,6 @@ protected:
     ReadWriteLock rosLock;
     nav_msgs::OccupancyGridConstPtr latestMap;
     nav_msgs::PathConstPtr latestHistory;
-
-    ReadWriteLock voronoiLock;
     VoronoiGridPtr latestVoronoi;
 
 public:
diff --git a/crosbot_explore/src/explorerROS.cpp b/crosbot_explore/src/explorerROS.cpp
index 77a895e8f964bc2c4fec75ecae8fcd2a5f51851e..49d27c12a1324e06eb87dd505d479698d560c64d 100644
--- a/crosbot_explore/src/explorerROS.cpp
+++ b/crosbot_explore/src/explorerROS.cpp
@@ -301,7 +301,12 @@ void ExplorerROSNode::subscribeGrid(ros::NodeHandle& nh) {
 }
 
 VoronoiGridPtr ExplorerROSNode::getLatestVoronoi() {
-    nav_msgs::OccupancyGridConstPtr latestMap = this->latestMap;
+    nav_msgs::OccupancyGridConstPtr latestMap;
+    {
+        Lock lock(rosLock, false);
+        latestMap = this->latestMap;
+    }
+
     if (latestMap == NULL) {
         return NULL;
     }
@@ -333,6 +338,12 @@ Pose ExplorerROSNode::getLatestPose(std::string frame_id, Time timestamp) {
 }
 
 Pose ExplorerROSNode::getLatestPose() {
+    nav_msgs::OccupancyGridConstPtr latestMap;
+    {
+        Lock lock(rosLock, false);
+        latestMap = this->latestMap;
+    }
+
     if (latestMap == NULL) {
         return Pose(INFINITY, INFINITY, INFINITY);
     }