fix: adds bool to signal OSMesa cleanup necessity

ubi-agni · Dec 2, 2024 · b8ce3da · b8ce3da
1 parent 6c9fc3e
commit b8ce3da
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diff --git a/mujoco_ros/include/mujoco_ros/mujoco_env.h b/mujoco_ros/include/mujoco_ros/mujoco_env.h
@@ -128,6 +128,7 @@ struct OffscreenRenderContext
 	{
 		OSMesaContext ctx;
 		unsigned char buffer[10000000]; // TODO: size necessary or resize later?
+		bool initialized = false;
 	} osmesa;
 #endif
 	mjrContext con = {};

diff --git a/mujoco_ros/src/offscreen_rendering.cpp b/mujoco_ros/src/offscreen_rendering.cpp
@@ -77,6 +77,9 @@ OffscreenRenderContext::~OffscreenRenderContext()
 		eglTerminate(display);
 	}
 #elif RENDER_BACKEND == USE_OSMESA
+	if (!osmesa.initialized) {
+		return;
+	}
 	ROS_DEBUG("Freeing OSMESA offscreen context");
 	mjr_defaultContext(&con);
 	mjr_freeContext(&con);
@@ -256,6 +259,7 @@ bool MujocoEnv::InitGL()
 		return false;
 	}
 	ROS_DEBUG("OSMesa initialized");
+	offscreen_.osmesa.initialized = true;
 	return true;
 } // InitGL
 #endif