Environment
- OS Version: Ubuntu 22.04
- Source or binary build?
Binary, gz-sim9
Description
- Expected behavior: We should be able to remove and create sensors without causing crash
- Actual behavior: When removing a DepthCamera sensor using SensorManager and recreating it from the same SDF, the program crashes with the following error:
./OgreMain/src/OgreHlmsDatablock.cpp:199: virtual Ogre::HlmsDatablock::~HlmsDatablock(): Assertion `mLinkedRenderables.empty() && "This Datablock is still being used by some Renderables." " Change their Datablocks before destroying this."' failed.
Note that this issue doesn't occur wth other sensor types (RGB for example).
Steps to reproduce
- Minimal reproduction code
#include <iostream>
#include <thread>
#include <chrono>
#include <sdf/Sensor.hh>
#include <gz/common/Console.hh>
#include <gz/rendering/RenderingIface.hh>
#include <gz/rendering/RenderEngine.hh>
#include <gz/rendering/Scene.hh>
#include <gz/sensors/Manager.hh>
#include <gz/sensors/DepthCameraSensor.hh>
static sdf::Sensor MakeDepthCamSdf()
{
sdf::Sensor s;
s.SetName("repro_depth");
s.SetType(sdf::SensorType::DEPTH_CAMERA);
sdf::Camera *cam = new sdf::Camera();
cam->SetImageWidth(320);
cam->SetImageHeight(240);
cam->SetFarClip(10.0);
cam->SetNearClip(0.1);
cam->SetHorizontalFov(gz::math::Angle::HalfPi);
s.SetCameraSensor(*cam);
// Minimal update rate so we create renderables quickly
s.SetUpdateRate(30.0);
return s;
}
static sdf::Sensor MakeRGBCamSdf()
{
sdf::Sensor s;
s.SetName("repro_rgb");
s.SetType(sdf::SensorType::CAMERA);
sdf::Camera *cam = new sdf::Camera();
cam->SetImageWidth(320);
cam->SetImageHeight(240);
cam->SetFarClip(10.0);
cam->SetNearClip(0.1);
cam->SetHorizontalFov(gz::math::Angle::HalfPi);
s.SetCameraSensor(*cam);
// Minimal update rate so we create renderables quickly
s.SetUpdateRate(30.0);
return s;
}
struct SceneManager{
SceneManager(std::string engineName="ogre2"):engineName(engineName){
engine = gz::rendering::engine(engineName);
if (!engine){
throw std::runtime_error("couldnt create engine with name "+engineName);
}
scene = engine->CreateScene("repro_scene");
if (!scene){
throw std::runtime_error("couldnt create scene");
}
scene->SetBackgroundColor(gz::math::Color(0.1f, 0.1f, 0.1f));
};
~SceneManager(){
engine->DestroyScene(scene);
gz::rendering::unloadEngine(engineName);
};
gz::rendering::RenderEngine* engine;
const std::string engineName = "ogre2";
gz::rendering::ScenePtr scene;
};
int main()
{
gz::common::Console::SetVerbosity(4);
SceneManager scene_mgr;
gz::sensors::Manager mgr;
auto sdf_ = MakeRGBCamSdf();
// first rgb camera test
// each iteration will create and then destory sensor
for (int k =0; k<3; ++k){
auto *base = mgr.CreateSensor<gz::sensors::CameraSensor>(sdf_);
auto *rgb = dynamic_cast<gz::sensors::CameraSensor*>(base);
rgb->SetScene(scene_mgr.scene);
rgb->SetParent("repro_link");
auto conn = rgb->ConnectImageCallback(
[](const gz::msgs::Image &)
{
// no-op
});
for (int i = 0; i < 100; ++i){
mgr.RunOnce(std::chrono::steady_clock::duration(std::chrono::milliseconds(16)));
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
{
auto renderCam = rgb->RenderingCamera();
if (renderCam)
{
std::cout << "[Repro] Destroying RGBCamera render object directly...\n";
renderCam->Destroy();
}
std::cout << "[Repro] Removing sensor from Manager...\n";
mgr.Remove(rgb->Id());
}
}
// next depth camera test
sdf_ = MakeDepthCamSdf();
for (int k =0; k<3; ++k){
auto *base = mgr.CreateSensor<gz::sensors::DepthCameraSensor>(sdf_);
auto *depth = dynamic_cast<gz::sensors::DepthCameraSensor*>(base);
depth->SetScene(scene_mgr.scene);
depth->SetParent("repro_link");
auto conn = depth->ConnectImageCallback(
[](const gz::msgs::Image &)
{
// no-op
});
for (int i = 0; i < 100; ++i){
mgr.RunOnce(std::chrono::steady_clock::duration(std::chrono::milliseconds(16)));
std::this_thread::sleep_for(std::chrono::milliseconds(1));
}
{
auto renderCam = depth->DepthCamera();
if (renderCam)
{
std::cout << "[Repro] Destroying DepthCamera render object directly...\n";
renderCam->Destroy();
}
std::cout << "[Repro] Removing sensor from Manager...\n";
mgr.Remove(depth->Id());
}
}
std::cout << "Done.\n";
return 0;
}
cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
project(repro_test)
add_executable(debug_main minimal_repro.cc)
find_package(gz-rendering9-ogre2)
find_package(gz-rendering9 REQUIRED)
find_package(gz-common6 REQUIRED)
find_package(gz-sensors9 REQUIRED COMPONENTS camera depth_camera )
set(GZ_SIM_VER 9)
set(GZ_SENSOR_VER 9)
set(GZ_COMMON_VER 6)
set(GZ_RENDERING_VER 9)
target_link_libraries(debug_main
gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
gz-sensors${GZ_SENSOR_VER}::camera
gz-sensors${GZ_SENSOR_VER}::depth_camera
)
Output
./debug_main
(2025-08-20 22:13:25.877) [info] [RenderEngineManager.cc:514] Loading plugin [gz-rendering-ogre2]
libEGL warning: egl: failed to create dri2 screen
libEGL warning: egl: failed to create dri2 screen
(2025-08-20 22:13:26.695) [debug] [CameraSensor.cc:343] Camera images for [repro_rgb] advertised on [/camera]
(2025-08-20 22:13:26.696) [debug] [CameraSensor.cc:633] Camera info for [repro_rgb] advertised on [/camera_info]
(2025-08-20 22:13:26.698) [warning] [Ogre2Camera.cc:423] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
(2025-08-20 22:13:26.698) [debug] [CameraSensor.cc:442] Enabling camera sensor: 'repro_rgb' data generation.
[Repro] Destroying RGBCamera render object directly...
[Repro] Removing sensor from Manager...
(2025-08-20 22:13:26.827) [debug] [CameraSensor.cc:343] Camera images for [repro_rgb] advertised on [/camera]
(2025-08-20 22:13:26.827) [debug] [CameraSensor.cc:633] Camera info for [repro_rgb] advertised on [/camera_info]
(2025-08-20 22:13:26.827) [warning] [Ogre2Camera.cc:423] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
(2025-08-20 22:13:26.827) [debug] [CameraSensor.cc:442] Enabling camera sensor: 'repro_rgb' data generation.
[Repro] Destroying RGBCamera render object directly...
[Repro] Removing sensor from Manager...
(2025-08-20 22:13:26.940) [debug] [CameraSensor.cc:343] Camera images for [repro_rgb] advertised on [/camera]
(2025-08-20 22:13:26.940) [debug] [CameraSensor.cc:633] Camera info for [repro_rgb] advertised on [/camera_info]
(2025-08-20 22:13:26.940) [warning] [Ogre2Camera.cc:423] Ogre2Camera::SetVisibilityMask: Mask bits c0000000 are set but will be ignored as they conflict with the reserved bits used internally by the ogre2 backend.
(2025-08-20 22:13:26.940) [debug] [CameraSensor.cc:442] Enabling camera sensor: 'repro_rgb' data generation.
[Repro] Destroying RGBCamera render object directly...
[Repro] Removing sensor from Manager...
(2025-08-20 22:13:27.056) [debug] [DepthCameraSensor.cc:284] Depth images for [repro_depth] advertised on [/camera/depth]
(2025-08-20 22:13:27.056) [debug] [CameraSensor.cc:633] Camera info for [repro_depth] advertised on [/camera/camera_info]
(2025-08-20 22:13:27.057) [debug] [DepthCameraSensor.cc:312] Points for [repro_depth] advertised on [/camera/depth/points]
[Repro] Destroying DepthCamera render object directly...
[Repro] Removing sensor from Manager...
(2025-08-20 22:13:27.177) [debug] [DepthCameraSensor.cc:284] Depth images for [repro_depth] advertised on [/camera/depth]
(2025-08-20 22:13:27.177) [debug] [CameraSensor.cc:633] Camera info for [repro_depth] advertised on [/camera/camera_info]
(2025-08-20 22:13:27.177) [debug] [DepthCameraSensor.cc:312] Points for [repro_depth] advertised on [/camera/depth/points]
debug_main: ./OgreMain/src/OgreHlmsDatablock.cpp:199: virtual Ogre::HlmsDatablock::~HlmsDatablock(): Assertion `mLinkedRenderables.empty() && "This Datablock is still being used by some Renderables." " Change their Datablocks before destroying this."' failed.
Aborted (core dumped)
