Program crashes when you load a client configuration

Bug Decription

• Expected behavior: You can load a client configuration through the GUI. It can handle overrides such that there are not multiple instances (for example of GzSceneManager) at the same time.
• Actual behavior: When you load a client configuration the simulator crashes.

Steps to reproduce

1. Gazebo Garden 7.0.0~pre1 binary installation on Ubuntu 22.04
2. gz sim shapes.sdf
3. Save client configuration as and save the file.
4. Load client configuration and load the file from the previous step.

Output

gailey@zbook:~$ gz sim shapes.sdf
libEGL warning: DRI2: failed to create dri screen
libEGL warning: DRI2: failed to create dri screen
^[
(gz sim gui:199567): Gtk-CRITICAL **: 01:14:02.023: gtk_image_set_from_gicon: assertion 'GTK_IS_IMAGE (image)' failed
[GUI] [Err] [GzSceneManager.cc:104] Only one GzSceneManager is supported at a time.
[GUI] [Err] [SelectEntities.cc:485] Only one SelectEntities plugin is supported at a time.
[GUI] [Err] [Spawn.cc:175] Only one Spawn plugin is supported at a time.
[GUI] [Err] [VisualizationCapabilities.cc:2823] Only one Visualization capabilities plugin is supported at a time.
terminate called after throwing an instance of 'Ogre::ItemIdentityException'
  what():  OGRE EXCEPTION(4:ItemIdentityException): A texture with name 'scene::RenderTexture(65526)0' already exists. (Real tex name: 'scene::RenderTexture(65526)0') in TextureGpuManager::createTexture at ./OgreMain/src/OgreTextureGpuManager.cpp (line 385)
Stack trace (most recent call last):
#31   Object "/usr/lib/x86_64-linux-gnu/libgz-sim7-gz.so.7.0.0~pre1", at 0x7f470feedc4f, in runGui
#30   Object "/lib/x86_64-linux-gnu/libgz-sim7-gui.so.7", at 0x7f470fd42088, in gz::sim::v7::gui::runGui(int&, char**, char const*, char const*, int, char const*)
#29   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f470ee3bce3, in QCoreApplication::exec()
#28   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f470ee3374a, in QEventLoop::exec(QFlags<QEventLoop::ProcessEventsFlag>)
#27   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f470ee8e0a7, in QEventDispatcherGlib::processEvents(QFlags<QEventLoop::ProcessEventsFlag>)
#26   Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f470c9dd3c2, in g_main_context_iteration
#25   Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f470ca346f7, in 
#24   Object "/lib/x86_64-linux-gnu/libglib-2.0.so.0", at 0x7f470c9dfd1a, in g_main_context_dispatch
#23   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f470ee8ea56, in 
#22   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f470ee37f16, in QCoreApplicationPrivate::sendPostedEvents(QObject*, int, QThreadData*)
#21   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f470ee34e29, in QCoreApplication::notifyInternal2(QObject*, QEvent*)
#20   Object "/lib/x86_64-linux-gnu/libQt5Widgets.so.5", at 0x7f470e58e712, in QApplicationPrivate::notify_helper(QObject*, QEvent*)
#19   Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x7f470ee6240d, in QObject::event(QEvent*)
#18   Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f46dc5dbce3, in gz::gui::plugins::RenderWindowItem::Ready()
#17   Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f46dc5db8f0, in gz::gui::plugins::RenderThread::Initialize[abi:cxx11]()
#16   Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f46dc5e50ed, in gz::gui::plugins::RenderThreadRhiOpenGL::Initialize[abi:cxx11]()
#15   Object "/usr/lib/x86_64-linux-gnu/gz-gui-7/plugins/libMinimalScene.so", at 0x7f46dc5dda30, in gz::gui::plugins::GzRenderer::Initialize[abi:cxx11]()
#14   Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f465c88c52d, in 
#13   Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f465c91e256, in gz::rendering::v7::Ogre2RenderTarget::PreRender()
#12   Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f465c91aa5a, in 
#11   Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f465c91a950, in gz::rendering::v7::Ogre2RenderTarget::RebuildImpl()
#10   Object "/usr/lib/x86_64-linux-gnu/gz-rendering-7/engine-plugins/libgz-rendering-ogre2.so", at 0x7f465c91c1b9, in gz::rendering::v7::Ogre2RenderTarget::BuildTargetImpl()
#9    Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x7f465c540a43, in Ogre::TextureGpuManager::createTexture(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, Ogre::GpuPageOutStrategy::GpuPageOutStrategy, unsigned int, Ogre::TextureTypes::TextureTypes, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, unsigned int, unsigned int)
#8    Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x7f465c2d91ff, in 
#7    Object "/usr/lib/x86_64-linux-gnu/OGRE-2.3/libOgreNextMain.so.2.3.1", at 0x7f465c2b597b, in 
#6    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f47107ed557, in __cxa_throw
#5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f47107ed2f6, in std::terminate()
#4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f47107ed28b, in 
#3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f47107e1bfd, in 
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4714f6d7f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4714f87475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4714fdba7c, in pthread_kill
Aborted (Signal sent by tkill() 199567 1000)

• running on real hardware

Environment

• OS Version: Ubuntu 22.04

• Build: Binary 7.0.0~pre1

• Rendering plugin: gz-rendering-ogre2

• GPU information

  Tue Sep 13 00:34:32 2022       
  +-----------------------------------------------------------------------------+
  | NVIDIA-SMI 515.65.01    Driver Version: 515.65.01    CUDA Version: 11.7     |
  |-------------------------------+----------------------+----------------------+
  | GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
  | Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
  |                               |                      |               MIG M. |
  |===============================+======================+======================|
  |   0  Quadro P1000        Off  | 00000000:01:00.0 Off |                  N/A |
  | N/A   42C    P8    N/A /  N/A |      6MiB /  4096MiB |      0%      Default |
  |                               |                      |                  N/A |
  +-------------------------------+----------------------+----------------------+
                                                                                 
  +-----------------------------------------------------------------------------+
  | Processes:                                                                  |
  |  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
  |        ID   ID                                                   Usage      |
  |=============================================================================|
  |    0   N/A  N/A      2056      G   /usr/lib/xorg/Xorg                  4MiB |
  +-----------------------------------------------------------------------------+
  

Rendering system info

See details.

$ LANG=C lspci -nn | grep VGA

00:02.0 VGA compatible controller [0300]: Intel Corporation CoffeeLake-H GT2 [UHD Graphics 630] [8086:3e9b]
01:00.0 VGA compatible controller [0300]: NVIDIA Corporation GP107GLM [Quadro P1000 Mobile] [10de:1cbb] (rev a1)

$ echo "$DISPLAY"

:1

$ LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)'  

direct rendering: Yes
    Preferred profile: core (0x1)
    Max core profile version: 4.6
    Max compat profile version: 4.6
    Max GLES1 profile version: 1.1
    Max GLES[23] profile version: 3.2
OpenGL vendor string: Intel
OpenGL renderer string: Mesa Intel(R) UHD Graphics 630 (CFL GT2)
OpenGL core profile version string: 4.6 (Core Profile) Mesa 22.0.5
OpenGL core profile shading language version string: 4.60
OpenGL core profile context flags: (none)
OpenGL core profile profile mask: core profile
OpenGL version string: 4.6 (Compatibility Profile) Mesa 22.0.5
OpenGL shading language version string: 4.60
OpenGL context flags: (none)
OpenGL profile mask: compatibility profile
OpenGL ES profile version string: OpenGL ES 3.2 Mesa 22.0.5
OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20

$ ps aux | grep Xorg

gailey      2056  0.5  0.8 27200740 144020 tty2  Rl+  sep10  20:48 /usr/lib/xorg/Xorg vt2 -displayfd 3 -auth /run/user/1000/gdm/Xauthority -nolisten tcp -background none -noreset -keeptty -novtswitch -verbose 3
gailey     48272  0.0  0.0  17868  2328 pts/0    S+   00:46   0:00 grep --color=auto Xorg

$ sudo env LANG=C X -version  

X.Org X Server 1.21.1.3
X Protocol Version 11, Revision 0
Current Operating System: Linux zbook 5.15.0-47-generic #51-Ubuntu SMP Thu Aug 11 07:51:15 UTC 2022 x86_64
Kernel command line: BOOT_IMAGE=/boot/vmlinuz-5.15.0-47-generic root=UUID=bb4da8d4-c255-46ee-bb34-4395db58cee0 ro quiet splash vt.handoff=7
xorg-server 2:21.1.3-2ubuntu2.1 (For technical support please see http://www.ubuntu.com/support) 
Current version of pixman: 0.40.0
	Before reporting problems, check http://wiki.x.org
	to make sure that you have the latest version.

Ogre2 Log

ogre2.log