diff --git a/gazebo/transport/ConnectionManager.cc b/gazebo/transport/ConnectionManager.cc
index 55641eea1c..8920b74e33 100644
--- a/gazebo/transport/ConnectionManager.cc
+++ b/gazebo/transport/ConnectionManager.cc
@@ -215,6 +215,9 @@ void ConnectionManager::Fini()
     return;
 
   this->Stop();
+  if (this->initialized)
+    while (this->stopped == false)
+      common::Time::MSleep(100);
 
   if (this->masterConn)
   {
@@ -244,10 +247,6 @@ void ConnectionManager::Fini()
 void ConnectionManager::Stop()
 {
   this->stop = true;
-  this->updateCondition.notify_all();
-  if (this->initialized)
-    while (this->stopped == false)
-      common::Time::MSleep(100);
 }
 
 //////////////////////////////////////////////////
diff --git a/plugins/DepthCameraPlugin.cc b/plugins/DepthCameraPlugin.cc
index aa71dd8429..a42cec6dbb 100644
--- a/plugins/DepthCameraPlugin.cc
+++ b/plugins/DepthCameraPlugin.cc
@@ -16,16 +16,20 @@
 */
 
 #include <functional>
+#include <mutex>
+#include <unordered_map>
 
 #include "plugins/DepthCameraPlugin.hh"
 
 using namespace gazebo;
 GZ_REGISTER_SENSOR_PLUGIN(DepthCameraPlugin)
 
+std::mutex global_maps_mutex;
+
 // Added this map to avoid breaking the ABI
-static std::map<DepthCameraPlugin*, event::ConnectionPtr>
+static std::unordered_map<DepthCameraPlugin*, event::ConnectionPtr>
                                                 connection_reflectance_map;
-static std::map<DepthCameraPlugin*, event::ConnectionPtr>
+static std::unordered_map<DepthCameraPlugin*, event::ConnectionPtr>
                                                 connection_normals_map;
 /////////////////////////////////////////////////
 DepthCameraPlugin::DepthCameraPlugin()
@@ -40,13 +44,9 @@ DepthCameraPlugin::~DepthCameraPlugin()
   this->newRGBPointCloudConnection.reset();
   this->newImageFrameConnection.reset();
 
-  std::map<DepthCameraPlugin*, event::ConnectionPtr>::iterator it;
-  it = connection_reflectance_map.find(this);
-  it->second.reset();
-  connection_reflectance_map.erase(it);
-  it = connection_normals_map.find(this);
-  it->second.reset();
-  connection_normals_map.erase(it);
+  std::lock_guard<std::mutex> guard{global_maps_mutex};
+  connection_reflectance_map.erase(this);
+  connection_normals_map.erase(this);
 
   this->parentSensor.reset();
   this->depthCamera.reset();
@@ -93,6 +93,7 @@ void DepthCameraPlugin::Load(sensors::SensorPtr _sensor,
             std::placeholders::_3, std::placeholders::_4,
             std::placeholders::_5));
 
+  std::lock_guard<std::mutex> guard{global_maps_mutex};
   connection_reflectance_map.
         insert(std::pair<DepthCameraPlugin*, event::ConnectionPtr>
                (this, newReflectanceFrameConnection));
diff --git a/test/integration/ogre_log.cc b/test/integration/ogre_log.cc
index 15b751297d..ab68c952ff 100644
--- a/test/integration/ogre_log.cc
+++ b/test/integration/ogre_log.cc
@@ -65,9 +65,20 @@ TEST_F(OgreLog, LogError)
     if (line.find(" GL_EXTENSIONS =") < 12)
       continue;
 
-    EXPECT_EQ(line.find("Error"), std::string::npos);
-    EXPECT_EQ(line.find("error"), std::string::npos);
-    EXPECT_EQ(line.find("ERROR"), std::string::npos);
+    // A GLX extension may have the word "error" in its name. For example:
+    // GLX_ARB_create_context_no_error.
+    // We will skip the line that lists all the extensions. This line starts
+    // with a date, so we just check that "Supported GLX extensions:" is
+    // toward the beginning.
+    // False positive cppcheck
+    // https://sourceforge.net/p/cppcheck/discussion/general/thread/0c113d65/
+    // cppcheck-suppress stlIfStrFind
+    if (line.find(" Supported GLX extensions: ") < 12)
+      continue;
+
+    EXPECT_EQ(line.find("Error"), std::string::npos) << line;
+    EXPECT_EQ(line.find("error"), std::string::npos) << line;
+    EXPECT_EQ(line.find("ERROR"), std::string::npos) << line;
   }
 }