Add scoped lock

[Wiktor-99]

I looked one more time on the #2011 and I think we should use scoped lock to avoid any potential deadlocks

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 89.46%. Comparing base (5d4933d) to head (07af756).

Additional details and impacted files

@@            Coverage Diff             @@
##           master    #2045      +/-   ##
==========================================
+ Coverage   89.43%   89.46%   +0.03%     
==========================================
  Files         138      138              
  Lines       14794    14792       -2     
  Branches     1271     1271              
==========================================
+ Hits        13231    13234       +3     
+ Misses       1087     1082       -5     
  Partials      476      476              

Flag	Coverage Δ
unittests	89.46% <100.00%> (+0.03%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...re_interface/include/hardware_interface/handle.hpp	88.23% <100.00%> (+1.09%)	⬆️

... and 2 files with indirect coverage changes

[saikishor]

Sure. LGTM