Cannot instantiate more than one Ogre2SelectionBuffer

[hidmic]

Environment

• OS Version: Ubuntu 20.04
• Source build using main branch @ 67ee5db
• Rendering engine: Ogre2

Description

• Expected behavior: multiple selection buffers can be instantiated, either directly or indirectly (e.g. through a RayQuery).
• Actual behavior: as soon as as second selection buffer is instantiated, Ogre2 aborts complaining about memory residency.

Steps to reproduce

I came across this issue when trying to instantiate two custom rendering sensors, as implemented in https://github.com/osrf/lrauv/blob/main/lrauv_ignition_plugins/src/DopplerVelocityLog.cc. Naturally, I'm unable to craft a minimal example or test that reproduces the error. I suspect it has to do with multiple selection buffers being instantiated at once in the same rendering loop iteration.

Either way, and for the record:

1. Build https://github.com/osrf/lrauv from source

2. Start a (paused) Gazebosim simulation e.g.:

   gz sim -v4 empty_environment_with_tiles.sdf
   

3. Spawn a tethys LRAUV at a 50m depth.

4. Spawn a daphne LRAUV at a 50m depth.

5. Unpause the simulation.

6. Subscribe tethys' DVL output:

   LRAUV_example_dvl_velocity tethys
   

7. Subscribe daphne' DVL output:

   LRAUV_example_dvl_velocity daphne
   

Output

Backtrace

gz sim server: /var/lib/jenkins/workspace/ogre-2.2-debbuilder/repo/OgreMain/src/OgreTextureGpu.cpp:175: void Ogre::TextureGpu::setResolution(Ogre::uint32, Ogre::uint32, Ogre::uint32):
 Assertion `mResidencyStatus == GpuResidency::OnStorage || isRenderWindowSpecific()' failed.
Stack trace (most recent call last) in thread 104609:
#21   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#20   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56ef96f292, in clone
#19   Object "/usr/lib/x86_64-linux-gnu/libpthread.so.0", at 0x7f56ef833608, in
#18   Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f56ebc52de3, in
#17   Object ".../install/lib/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0x7f56bd35a54f, in gz::sim::v7::systems::SensorsPrivate::RenderThread()
#16   Object ".../install/lib/gz-sim-7/plugins/libgz-sim-sensors-system.so", at 0x7f56bd359b60, in gz::sim::v7::systems::SensorsPrivate::RunOnce()
#15   Object ".../install/lib/libDopplerVelocityLogSystem.so", at 0x7f56bc7e684a, in std::_Function_handler<void (), std::_Bind<void (tethys::DopplerVeloc
ityLogSystemPrivate::*(tethys::DopplerVelocityLogSystemPrivate*))()> >::_M_invoke(std::_Any_data const&)
#14   Object ".../install/lib/libDopplerVelocityLogSystem.so", at 0x7f56bc7ef4cc, in void std::_Bind<void (tethys::DopplerVelocityLogSystemPrivate::*(teth
ys::DopplerVelocityLogSystemPrivate*))()>::operator()<, void>()
#13   Object ".../install/lib/libDopplerVelocityLogSystem.so", at 0x7f56bc7f9d1e, in void std::_Bind<void (tethys::DopplerVelocityLogSystemPrivate::*(teth
ys::DopplerVelocityLogSystemPrivate*))()>::__call<void, , 0ul>(std::tuple<>&&, std::_Index_tuple<0ul>)
#12   Object ".../install/lib/libDopplerVelocityLogSystem.so", at 0x7f56bc80352e, in std::__invoke_result<void (tethys::DopplerVelocityLogSystemPrivate::*
&)(), tethys::DopplerVelocityLogSystemPrivate*&>::type std::__invoke<void (tethys::DopplerVelocityLogSystemPrivate::*&)(), tethys::DopplerVelocityLogSystemPrivate*&>(void (tethys::Dop
plerVelocityLogSystemPrivate::*&)(), tethys::DopplerVelocityLogSystemPrivate*&)
#11   Object ".../install/lib/libDopplerVelocityLogSystem.so", at 0x7f56bc80c19b, in void std::__invoke_impl<void, void (tethys::DopplerVelocityLogSystem$
rivate::*&)(), tethys::DopplerVelocityLogSystemPrivate*&>(std::__invoke_memfun_deref, void (tethys::DopplerVelocityLogSystemPrivate::*&)(), tethys::DopplerVelocityLogSystemPrivate*&)
#10   Object ".../install/lib/libDopplerVelocityLogSystem.so", at 0x7f56bc7d88f9, in tethys::DopplerVelocityLogSystemPrivate::OnPostRender()
#9    Object ".../install/lib/libDopplerVelocityLog.so", at 0x7f56bc56ac45, in tethys::DopplerVelocityLog::PostUpdate(std::chrono::duration<long, std::rat
io<1l, 1000000000l> > const&)
#8    Object ".../install/lib/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f569e12f465, in gz::rendering::v7::Ogre2Camera::VisualAt(gz::
math::v7::Vector2<int> const&)
#7    Object ".../install/lib/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f569e12e3db, in gz::rendering::v7::Ogre2Camera::SetSelectionB
uffer()
#6    Object ".../install/lib/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f569e1ddfef, in gz::rendering::v7::Ogre2SelectionBuffer::Ogre
2SelectionBuffer(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::shared_ptr<gz::rendering::v7::Ogre2Scene>, unsigned int, unsigned int)
#5    Object ".../install/lib/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f569e1dcca9, in gz::rendering::v7::Ogre2SelectionBuffer::Crea
teRTTBuffer()
#4    Object "/usr/lib/x86_64-linux-gnu/libOgreMain.so.2.2.6", at 0x7f569ddb219f, in Ogre::TextureGpu::setResolution(unsigned int, unsigned int, unsigned int)
#3    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56ef883f35, in __assert_fail
#2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56ef872728, in
#1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56ef872858, in abort
#0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56ef89318b, in gsignal