Workaround for ogre crash on shutdown

ogre/src/OgreRenderEngine.cc

@@ -36,8 +36,12 @@ typedef khronos_intptr_t GLintptr;
  #include <Winsock2.h>
 #endif
 
+#include <dlfcn.h>
+
 # include <sstream>
 
+#include <OgreDynLib.h>
+
 #include <gz/plugin/Register.hh>
 
 #include <gz/common/Console.hh>
@@ -66,6 +70,32 @@ class gz::rendering::OgreRenderEnginePrivate
 using namespace gz;
 using namespace rendering;
 
+// Unloading the RenderSystem_GL plugin was found to cause a crash when the
+// rendering thread exits. This only happens on Ubuntu 24.04 when running
+// ogre using system debs, see
+// https:/gazebosim/gz-rendering/issues/1007
+// To workaround ths issue, we adapt the code for loading the ogre plugin here.
+// We load the RenderSystem_GL library manually and store it in gz-rendering.
+// On shutdown, ogre root will uninstall this plugin and delete the GL
+// render system objects. However, gz-rendering does not unload this plugin.
+// \todo(iche033) Find a proper way to unload the library without causing a
+// crash.
+typedef void (*DLL_START_PLUGIN)(void);
+DYNLIB_HANDLE glPluginHandle;
+
+void loadGLPlugin(const std::string &_pluginName)
+{
+#ifdef _WIN32
+ glPluginHandle = DYNLIB_LOAD(_pluginName.c_str());
+#else
+ glPluginHandle = dlopen(_pluginName.c_str(), RTLD_LAZY | RTLD_LOCAL);
+#endif
+ DLL_START_PLUGIN pFunc = (DLL_START_PLUGIN)DYNLIB_GETSYM(
+ glPluginHandle, "dllStartPlugin");
+ pFunc();
+ return;
+}
+
 //////////////////////////////////////////////////
 OgreRenderEnginePlugin::OgreRenderEnginePlugin()
 {
@@ -118,9 +148,9 @@ void OgreRenderEngine::Destroy()
 
  if (ogreRoot)
  {
+ // TODO(anyone): do we need to catch segfault on delete?
  try
  {
- // TODO(anyone): do we need to catch segfault on delete?
  delete this->ogreRoot;
  }
  catch (...)
@@ -458,17 +488,26 @@ void OgreRenderEngine::LoadPlugins()
 
  for (piter = plugins.begin(); piter != plugins.end(); ++piter)
  {
+
+ bool isGLPlugin = std::string(*piter).find("RenderSystem_GL")
+ != std::string::npos;
  try
  {
- // Load the plugin into OGRE
- this->ogreRoot->loadPlugin(*piter+extension);
+ // Load the plugin
+ if (isGLPlugin)
+ loadGLPlugin(*piter+extension);
+ else
+ this->ogreRoot->loadPlugin(*piter+extension);
  }
  catch(Ogre::Exception &e)
  {
  try
  {
- // Load the debug plugin into OGRE
- this->ogreRoot->loadPlugin(*piter+"_d"+extension);
+ // Load the debug plugin
+ if (isGLPlugin)
+ loadGLPlugin(*piter+"_d"+extension);
+ else
+ this->ogreRoot->loadPlugin(*piter+"_d"+extension);
  }
  catch(Ogre::Exception &ed)
  {