diff --git a/lidar_localization/include/lidar_localization/subscriber/cloud_subscriber.hpp b/lidar_localization/include/lidar_localization/subscriber/cloud_subscriber.hpp
index 67a3038..5e4d269 100644
--- a/lidar_localization/include/lidar_localization/subscriber/cloud_subscriber.hpp
+++ b/lidar_localization/include/lidar_localization/subscriber/cloud_subscriber.hpp
@@ -8,6 +8,8 @@
 #define LIDAR_LOCALIZATION_SUBSCRIBER_CLOUD_SUBSCRIBER_HPP_
 
 #include <deque>
+#include <mutex>
+#include <thread>
 
 #include <ros/ros.h>
 #include <sensor_msgs/PointCloud2.h>
@@ -30,8 +32,9 @@ class CloudSubscriber {
   private:
     ros::NodeHandle nh_;
     ros::Subscriber subscriber_;
-
     std::deque<CloudData> new_cloud_data_;
+
+    std::mutex buff_mutex_;
 };
 }
 
diff --git a/lidar_localization/include/lidar_localization/subscriber/gnss_subscriber.hpp b/lidar_localization/include/lidar_localization/subscriber/gnss_subscriber.hpp
index dc5f6d8..2f34d22 100644
--- a/lidar_localization/include/lidar_localization/subscriber/gnss_subscriber.hpp
+++ b/lidar_localization/include/lidar_localization/subscriber/gnss_subscriber.hpp
@@ -7,8 +7,12 @@
 #define LIDAR_LOCALIZATION_SUBSCRIBER_GNSS_SUBSCRIBER_HPP_
 
 #include <deque>
+#include <mutex>
+#include <thread>
+
 #include <ros/ros.h>
 #include "sensor_msgs/NavSatFix.h"
+
 #include "lidar_localization/sensor_data/gnss_data.hpp"
 
 namespace lidar_localization {
@@ -24,8 +28,9 @@ class GNSSSubscriber {
   private:
     ros::NodeHandle nh_;
     ros::Subscriber subscriber_;
-
     std::deque<GNSSData> new_gnss_data_;
+
+    std::mutex buff_mutex_;
 };
 }
 #endif
\ No newline at end of file
diff --git a/lidar_localization/include/lidar_localization/subscriber/imu_subscriber.hpp b/lidar_localization/include/lidar_localization/subscriber/imu_subscriber.hpp
index 8145fcc..ae527ee 100644
--- a/lidar_localization/include/lidar_localization/subscriber/imu_subscriber.hpp
+++ b/lidar_localization/include/lidar_localization/subscriber/imu_subscriber.hpp
@@ -7,8 +7,12 @@
 #define LIDAR_LOCALIZATION_SUBSCRIBER_IMU_SUBSCRIBER_HPP_
 
 #include <deque>
+#include <mutex>
+#include <thread>
+
 #include <ros/ros.h>
 #include "sensor_msgs/Imu.h"
+
 #include "lidar_localization/sensor_data/imu_data.hpp"
 
 namespace lidar_localization {
@@ -24,8 +28,9 @@ class IMUSubscriber {
   private:
     ros::NodeHandle nh_;
     ros::Subscriber subscriber_;
+    std::deque<IMUData> new_imu_data_;
 
-    std::deque<IMUData> new_imu_data_; 
+    std::mutex buff_mutex_; 
 };
 }
 #endif
\ No newline at end of file
diff --git a/lidar_localization/include/lidar_localization/subscriber/key_frame_subscriber.hpp b/lidar_localization/include/lidar_localization/subscriber/key_frame_subscriber.hpp
index fdb59ce..40f2b90 100644
--- a/lidar_localization/include/lidar_localization/subscriber/key_frame_subscriber.hpp
+++ b/lidar_localization/include/lidar_localization/subscriber/key_frame_subscriber.hpp
@@ -7,6 +7,9 @@
 #define LIDAR_LOCALIZATION_SUBSCRIBER_KEY_FRAME_SUBSCRIBER_HPP_
 
 #include <deque>
+#include <mutex>
+#include <thread>
+
 #include <ros/ros.h>
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
 
@@ -25,8 +28,9 @@ class KeyFrameSubscriber {
   private:
     ros::NodeHandle nh_;
     ros::Subscriber subscriber_;
+    std::deque<KeyFrame> new_key_frame_;
 
-    std::deque<KeyFrame> new_key_frame_; 
+    std::mutex buff_mutex_; 
 };
 }
 #endif
\ No newline at end of file
diff --git a/lidar_localization/include/lidar_localization/subscriber/key_frames_subscriber.hpp b/lidar_localization/include/lidar_localization/subscriber/key_frames_subscriber.hpp
index 8fc3fde..81566f9 100644
--- a/lidar_localization/include/lidar_localization/subscriber/key_frames_subscriber.hpp
+++ b/lidar_localization/include/lidar_localization/subscriber/key_frames_subscriber.hpp
@@ -7,6 +7,9 @@
 #define LIDAR_LOCALIZATION_SUBSCRIBER_KEY_FRAMES_SUBSCRIBER_HPP_
 
 #include <deque>
+#include <mutex>
+#include <thread>
+
 #include <ros/ros.h>
 #include <nav_msgs/Path.h>
 #include <geometry_msgs/PoseStamped.h>
@@ -26,8 +29,9 @@ class KeyFramesSubscriber {
   private:
     ros::NodeHandle nh_;
     ros::Subscriber subscriber_;
+    std::deque<KeyFrame> new_key_frames_;
 
-    std::deque<KeyFrame> new_key_frames_; 
+    std::mutex buff_mutex_; 
 };
 }
 #endif
\ No newline at end of file
diff --git a/lidar_localization/include/lidar_localization/subscriber/loop_pose_subscriber.hpp b/lidar_localization/include/lidar_localization/subscriber/loop_pose_subscriber.hpp
index dc8de26..72beb2f 100644
--- a/lidar_localization/include/lidar_localization/subscriber/loop_pose_subscriber.hpp
+++ b/lidar_localization/include/lidar_localization/subscriber/loop_pose_subscriber.hpp
@@ -7,6 +7,9 @@
 #define LIDAR_LOCALIZATION_SUBSCRIBER_LOOP_POSE_SUBSCRIBER_HPP_
 
 #include <deque>
+#include <mutex>
+#include <thread>
+
 #include <ros/ros.h>
 #include <geometry_msgs/PoseWithCovarianceStamped.h>
 
@@ -25,8 +28,9 @@ class LoopPoseSubscriber {
   private:
     ros::NodeHandle nh_;
     ros::Subscriber subscriber_;
+    std::deque<LoopPose> new_loop_pose_;
 
-    std::deque<LoopPose> new_loop_pose_; 
+    std::mutex buff_mutex_; 
 };
 }
 #endif
\ No newline at end of file
diff --git a/lidar_localization/include/lidar_localization/subscriber/odometry_subscriber.hpp b/lidar_localization/include/lidar_localization/subscriber/odometry_subscriber.hpp
index 07e2c90..9c5c232 100644
--- a/lidar_localization/include/lidar_localization/subscriber/odometry_subscriber.hpp
+++ b/lidar_localization/include/lidar_localization/subscriber/odometry_subscriber.hpp
@@ -7,8 +7,12 @@
 #define LIDAR_LOCALIZATION_SUBSCRIBER_ODOMETRY_SUBSCRIBER_HPP_
 
 #include <deque>
+#include <mutex>
+#include <thread>
+
 #include <ros/ros.h>
 #include <nav_msgs/Odometry.h>
+
 #include "lidar_localization/sensor_data/pose_data.hpp"
 
 namespace lidar_localization {
@@ -24,8 +28,9 @@ class OdometrySubscriber {
   private:
     ros::NodeHandle nh_;
     ros::Subscriber subscriber_;
+    std::deque<PoseData> new_pose_data_;
 
-    std::deque<PoseData> new_pose_data_; 
+    std::mutex buff_mutex_; 
 };
 }
 #endif
\ No newline at end of file
diff --git a/lidar_localization/include/lidar_localization/subscriber/velocity_subscriber.hpp b/lidar_localization/include/lidar_localization/subscriber/velocity_subscriber.hpp
index 0d752a5..96ad94e 100644
--- a/lidar_localization/include/lidar_localization/subscriber/velocity_subscriber.hpp
+++ b/lidar_localization/include/lidar_localization/subscriber/velocity_subscriber.hpp
@@ -7,8 +7,12 @@
 #define LIDAR_LOCALIZATION_SUBSCRIBER_VELOCITY_SUBSCRIBER_HPP_
 
 #include <deque>
+#include <mutex>
+#include <thread>
+
 #include <ros/ros.h>
 #include "geometry_msgs/TwistStamped.h"
+
 #include "lidar_localization/sensor_data/velocity_data.hpp"
 
 namespace lidar_localization {
@@ -24,8 +28,9 @@ class VelocitySubscriber {
   private:
     ros::NodeHandle nh_;
     ros::Subscriber subscriber_;
+    std::deque<VelocityData> new_velocity_data_;
 
-    std::deque<VelocityData> new_velocity_data_; 
+    std::mutex buff_mutex_; 
 };
 }
 #endif
\ No newline at end of file
diff --git a/lidar_localization/src/subscriber/cloud_subscriber.cpp b/lidar_localization/src/subscriber/cloud_subscriber.cpp
index 9da3d37..e5772b5 100644
--- a/lidar_localization/src/subscriber/cloud_subscriber.cpp
+++ b/lidar_localization/src/subscriber/cloud_subscriber.cpp
@@ -15,17 +15,21 @@ CloudSubscriber::CloudSubscriber(ros::NodeHandle& nh, std::string topic_name, si
 }
 
 void CloudSubscriber::msg_callback(const sensor_msgs::PointCloud2::ConstPtr& cloud_msg_ptr) {
+    buff_mutex_.lock();
     CloudData cloud_data;
     cloud_data.time = cloud_msg_ptr->header.stamp.toSec();
     pcl::fromROSMsg(*cloud_msg_ptr, *(cloud_data.cloud_ptr));
 
     new_cloud_data_.push_back(cloud_data);
+    buff_mutex_.unlock();
 }
 
 void CloudSubscriber::ParseData(std::deque<CloudData>& cloud_data_buff) {
+    buff_mutex_.lock();
     if (new_cloud_data_.size() > 0) {
         cloud_data_buff.insert(cloud_data_buff.end(), new_cloud_data_.begin(), new_cloud_data_.end());
         new_cloud_data_.clear();
     }
+    buff_mutex_.unlock();
 }
 } // namespace data_input
\ No newline at end of file
diff --git a/lidar_localization/src/subscriber/gnss_subscriber.cpp b/lidar_localization/src/subscriber/gnss_subscriber.cpp
index 9a07181..120e705 100644
--- a/lidar_localization/src/subscriber/gnss_subscriber.cpp
+++ b/lidar_localization/src/subscriber/gnss_subscriber.cpp
@@ -14,6 +14,7 @@ GNSSSubscriber::GNSSSubscriber(ros::NodeHandle& nh, std::string topic_name, size
 }
 
 void GNSSSubscriber::msg_callback(const sensor_msgs::NavSatFixConstPtr& nav_sat_fix_ptr) {
+    buff_mutex_.lock();
     GNSSData gnss_data;
     gnss_data.time = nav_sat_fix_ptr->header.stamp.toSec();
     gnss_data.latitude = nav_sat_fix_ptr->latitude;
@@ -23,12 +24,15 @@ void GNSSSubscriber::msg_callback(const sensor_msgs::NavSatFixConstPtr& nav_sat_
     gnss_data.service = nav_sat_fix_ptr->status.service;
 
     new_gnss_data_.push_back(gnss_data);
+    buff_mutex_.unlock();
 }
 
 void GNSSSubscriber::ParseData(std::deque<GNSSData>& gnss_data_buff) {
+    buff_mutex_.lock();
     if (new_gnss_data_.size() > 0) {
         gnss_data_buff.insert(gnss_data_buff.end(), new_gnss_data_.begin(), new_gnss_data_.end());
         new_gnss_data_.clear();
     }
+    buff_mutex_.unlock();
 }
 }
\ No newline at end of file
diff --git a/lidar_localization/src/subscriber/imu_subscriber.cpp b/lidar_localization/src/subscriber/imu_subscriber.cpp
index 60b32b1..44d9bb4 100644
--- a/lidar_localization/src/subscriber/imu_subscriber.cpp
+++ b/lidar_localization/src/subscriber/imu_subscriber.cpp
@@ -13,6 +13,7 @@ IMUSubscriber::IMUSubscriber(ros::NodeHandle& nh, std::string topic_name, size_t
 }
 
 void IMUSubscriber::msg_callback(const sensor_msgs::ImuConstPtr& imu_msg_ptr) {
+    buff_mutex_.lock();
     IMUData imu_data;
     imu_data.time = imu_msg_ptr->header.stamp.toSec();
 
@@ -30,12 +31,15 @@ void IMUSubscriber::msg_callback(const sensor_msgs::ImuConstPtr& imu_msg_ptr) {
     imu_data.orientation.w = imu_msg_ptr->orientation.w;
 
     new_imu_data_.push_back(imu_data);
+    buff_mutex_.unlock();
 }
 
 void IMUSubscriber::ParseData(std::deque<IMUData>& imu_data_buff) {
+    buff_mutex_.lock();
     if (new_imu_data_.size() > 0) {
         imu_data_buff.insert(imu_data_buff.end(), new_imu_data_.begin(), new_imu_data_.end());
         new_imu_data_.clear();
     }
+    buff_mutex_.unlock();
 }
 }
\ No newline at end of file
diff --git a/lidar_localization/src/subscriber/key_frame_subscriber.cpp b/lidar_localization/src/subscriber/key_frame_subscriber.cpp
index 2e94a98..8d8fdde 100644
--- a/lidar_localization/src/subscriber/key_frame_subscriber.cpp
+++ b/lidar_localization/src/subscriber/key_frame_subscriber.cpp
@@ -13,6 +13,7 @@ KeyFrameSubscriber::KeyFrameSubscriber(ros::NodeHandle& nh, std::string topic_na
 }
 
 void KeyFrameSubscriber::msg_callback(const geometry_msgs::PoseWithCovarianceStampedConstPtr& key_frame_msg_ptr) {
+    buff_mutex_.lock();
     KeyFrame key_frame;
     key_frame.time = key_frame_msg_ptr->header.stamp.toSec();
     key_frame.index = (unsigned int)key_frame_msg_ptr->pose.covariance[0];
@@ -29,12 +30,15 @@ void KeyFrameSubscriber::msg_callback(const geometry_msgs::PoseWithCovarianceSta
     key_frame.pose.block<3,3>(0,0) = q.matrix();
 
     new_key_frame_.push_back(key_frame);
+    buff_mutex_.unlock();
 }
 
 void KeyFrameSubscriber::ParseData(std::deque<KeyFrame>& key_frame_buff) {
+    buff_mutex_.lock();
     if (new_key_frame_.size() > 0) {
         key_frame_buff.insert(key_frame_buff.end(), new_key_frame_.begin(), new_key_frame_.end());
         new_key_frame_.clear();
     }
+    buff_mutex_.unlock();
 }
 }
\ No newline at end of file
diff --git a/lidar_localization/src/subscriber/key_frames_subscriber.cpp b/lidar_localization/src/subscriber/key_frames_subscriber.cpp
index a6911cf..0d4a9b0 100644
--- a/lidar_localization/src/subscriber/key_frames_subscriber.cpp
+++ b/lidar_localization/src/subscriber/key_frames_subscriber.cpp
@@ -13,6 +13,7 @@ KeyFramesSubscriber::KeyFramesSubscriber(ros::NodeHandle& nh, std::string topic_
 }
 
 void KeyFramesSubscriber::msg_callback(const nav_msgs::Path::ConstPtr& key_frames_msg_ptr) {
+    buff_mutex_.lock();
     new_key_frames_.clear();
 
     for (size_t i = 0; i < key_frames_msg_ptr->poses.size(); i++) {
@@ -33,12 +34,15 @@ void KeyFramesSubscriber::msg_callback(const nav_msgs::Path::ConstPtr& key_frame
 
         new_key_frames_.push_back(key_frame);
     }
+    buff_mutex_.unlock();
 }
 
 void KeyFramesSubscriber::ParseData(std::deque<KeyFrame>& key_frames_buff) {
+    buff_mutex_.lock();
     if (new_key_frames_.size() > 0) {
         key_frames_buff = new_key_frames_;
         new_key_frames_.clear();
     }
+    buff_mutex_.unlock();
 }
 }
\ No newline at end of file
diff --git a/lidar_localization/src/subscriber/loop_pose_subscriber.cpp b/lidar_localization/src/subscriber/loop_pose_subscriber.cpp
index e70517c..9da7862 100644
--- a/lidar_localization/src/subscriber/loop_pose_subscriber.cpp
+++ b/lidar_localization/src/subscriber/loop_pose_subscriber.cpp
@@ -13,6 +13,7 @@ LoopPoseSubscriber::LoopPoseSubscriber(ros::NodeHandle& nh, std::string topic_na
 }
 
 void LoopPoseSubscriber::msg_callback(const geometry_msgs::PoseWithCovarianceStampedConstPtr& loop_pose_msg_ptr) {
+    buff_mutex_.lock();
     LoopPose loop_pose;
     loop_pose.time = loop_pose_msg_ptr->header.stamp.toSec();
     loop_pose.index0 = (unsigned int)loop_pose_msg_ptr->pose.covariance[0];
@@ -30,12 +31,15 @@ void LoopPoseSubscriber::msg_callback(const geometry_msgs::PoseWithCovarianceSta
     loop_pose.pose.block<3,3>(0,0) = q.matrix();
 
     new_loop_pose_.push_back(loop_pose);
+    buff_mutex_.unlock();
 }
 
 void LoopPoseSubscriber::ParseData(std::deque<LoopPose>& loop_pose_buff) {
+    buff_mutex_.lock();
     if (new_loop_pose_.size() > 0) {
         loop_pose_buff.insert(loop_pose_buff.end(), new_loop_pose_.begin(), new_loop_pose_.end());
         new_loop_pose_.clear();
     }
+    buff_mutex_.unlock();
 }
 }
\ No newline at end of file
diff --git a/lidar_localization/src/subscriber/odometry_subscriber.cpp b/lidar_localization/src/subscriber/odometry_subscriber.cpp
index 835428d..8cedfd4 100644
--- a/lidar_localization/src/subscriber/odometry_subscriber.cpp
+++ b/lidar_localization/src/subscriber/odometry_subscriber.cpp
@@ -13,6 +13,7 @@ OdometrySubscriber::OdometrySubscriber(ros::NodeHandle& nh, std::string topic_na
 }
 
 void OdometrySubscriber::msg_callback(const nav_msgs::OdometryConstPtr& odom_msg_ptr) {
+    buff_mutex_.lock();
     PoseData pose_data;
     pose_data.time = odom_msg_ptr->header.stamp.toSec();
 
@@ -29,12 +30,15 @@ void OdometrySubscriber::msg_callback(const nav_msgs::OdometryConstPtr& odom_msg
     pose_data.pose.block<3,3>(0,0) = q.matrix();
 
     new_pose_data_.push_back(pose_data);
+    buff_mutex_.unlock();
 }
 
 void OdometrySubscriber::ParseData(std::deque<PoseData>& pose_data_buff) {
+    buff_mutex_.lock();
     if (new_pose_data_.size() > 0) {
         pose_data_buff.insert(pose_data_buff.end(), new_pose_data_.begin(), new_pose_data_.end());
         new_pose_data_.clear();
     }
+    buff_mutex_.unlock();
 }
 }
\ No newline at end of file
diff --git a/lidar_localization/src/subscriber/velocity_subscriber.cpp b/lidar_localization/src/subscriber/velocity_subscriber.cpp
index 24b9b55..b54eaff 100644
--- a/lidar_localization/src/subscriber/velocity_subscriber.cpp
+++ b/lidar_localization/src/subscriber/velocity_subscriber.cpp
@@ -14,6 +14,7 @@ VelocitySubscriber::VelocitySubscriber(ros::NodeHandle& nh, std::string topic_na
 }
 
 void VelocitySubscriber::msg_callback(const geometry_msgs::TwistStampedConstPtr& twist_msg_ptr) {
+    buff_mutex_.lock();
     VelocityData velocity_data;
     velocity_data.time = twist_msg_ptr->header.stamp.toSec();
 
@@ -26,12 +27,15 @@ void VelocitySubscriber::msg_callback(const geometry_msgs::TwistStampedConstPtr&
     velocity_data.angular_velocity.z = twist_msg_ptr->twist.angular.z;
 
     new_velocity_data_.push_back(velocity_data);
+    buff_mutex_.unlock();
 }
 
 void VelocitySubscriber::ParseData(std::deque<VelocityData>& velocity_data_buff) {
+    buff_mutex_.lock();
     if (new_velocity_data_.size() > 0) {
         velocity_data_buff.insert(velocity_data_buff.end(), new_velocity_data_.begin(), new_velocity_data_.end());
         new_velocity_data_.clear();
     }
+    buff_mutex_.unlock();
 }
 }
\ No newline at end of file