[BUG]:gazebo_ros_laser_controller is crashing simulation

Description of the bug

I have bug related to the gazebo_ros_laser_controller plugin that simulates the velodyne VLP-16 in my Gazebo Simulation using ROS2 Humble. The URDF file oy my Sensor Lidar3d can be find here.

Everytime I try to access the ros2 topic related to the plugin the simulation starts to "brake".

Steps To Reproduce

To reproduce, you can follow the steps of repository here. Ant then try to access the information of the topic /gazebo_ros_laser_controller/out with any ros2 topic command.

Additional Information

I looked for my velodyne version installed And this is the result output:

air@pmecdesktop01-rtx:~/ros2_ws$ sudo apt-cache show velodyne* Package: ros-humble-velodyne Status: install ok installed Priority: optional Section: misc Installed-Size: 63 Maintainer: Josh Whitley whitleysoftwareservices@gmail.com Architecture: amd64 Version: 2.4.0-1jammy.20240217.094912 Depends: ros-humble-velodyne-driver, ros-humble-velodyne-laserscan, ros-humble-velodyne-msgs, ros-humble-velodyne-pointcloud, ros-humble-ros-workspace Description: Basic ROS support for the Velodyne 3D LIDARs. Description-md5: 22f92506e4132ff5a8e6833b6dceea1f Homepage: http://www.ros.org/wiki/velodyne

Package: ros-humble-velodyne-driver Status: install ok installed Priority: optional Section: misc Installed-Size: 390 Maintainer: Josh Whitley whitleysoftwareservices@gmail.com Architecture: amd64 Version: 2.4.0-1jammy.20240217.092512 Depends: libc6 (>= 2.34), libconsole-bridge1.0 (>= 1.0.1+dfsg2), libgcc-s1 (>= 3.3.1), libpcap0.8 (>= 1.0.0), libstdc++6 (>= 11), libpcap0.8-dev, ros-humble-diagnostic-msgs, ros-humble-diagnostic-updater, ros-humble-rclcpp, ros-humble-rclcpp-components, ros-humble-tf2-ros, ros-humble-velodyne-msgs, ros-humble-ros-workspace Description: ROS device driver for Velodyne 3D LIDARs. Description-md5: ca4af1522d59fc199b54f637f391f588 Homepage: http://www.ros.org/wiki/velodyne_driver

Package: ros-humble-velodyne-laserscan Status: install ok installed Priority: optional Section: misc Installed-Size: 562 Maintainer: Josh Whitley whitleysoftwareservices@gmail.com Architecture: amd64 Version: 2.4.0-1jammy.20240217.082755 Depends: libc6 (>= 2.34), libconsole-bridge1.0 (>= 1.0.1+dfsg2), libgcc-s1 (>= 3.3.1), libstdc++6 (>= 11), ros-humble-rclcpp, ros-humble-rclcpp-components, ros-humble-sensor-msgs, ros-humble-ros-workspace Description: Extract a single ring of a Velodyne PointCloud2 and publish it as a LaserScan message Description-md5: b074186f976c914fd8989696a803e624 Homepage: http://ros.org/wiki/velodyne_laserscan

Package: ros-humble-velodyne-msgs Status: install ok installed Priority: optional Section: misc Installed-Size: 535 Maintainer: Josh Whitley whitleysoftwareservices@gmail.com Architecture: amd64 Version: 2.4.0-1jammy.20240217.061835 Depends: libc6 (>= 2.4), libgcc-s1 (>= 3.3.1), libpython3.10 (>= 3.10.0), libstdc++6 (>= 5.2), ros-humble-fastcdr, ros-humble-builtin-interfaces, ros-humble-rosidl-default-runtime, ros-humble-std-msgs, ros-humble-ros-workspace Description: ROS message definitions for Velodyne 3D LIDARs. Description-md5: c5e7c2907a077b6187ebd7be777d33cd Homepage: http://ros.org/wiki/velodyne_msgs

Package: ros-humble-velodyne-pointcloud Status: install ok installed Priority: optional Section: misc Installed-Size: 1006 Maintainer: Josh Whitley whitleysoftwareservices@gmail.com Architecture: amd64 Version: 2.4.0-1jammy.20240217.093714 Depends: libc6 (>= 2.34), libconsole-bridge1.0 (>= 1.0.1+dfsg2), libgcc-s1 (>= 3.3.1), libstdc++6 (>= 11), libyaml-cpp0.7 (>= 0.7.0), libpcl-dev, libyaml-cpp-dev, ros-humble-angles, ros-humble-diagnostic-updater, ros-humble-geometry-msgs, ros-humble-message-filters, ros-humble-rclcpp, ros-humble-rclcpp-components, ros-humble-sensor-msgs, ros-humble-tf2, ros-humble-tf2-ros, ros-humble-velodyne-msgs, ros-humble-ros-workspace Description: Point cloud conversions for Velodyne 3D LIDARs. Description-md5: 2658f71086ba1b482063bb45d4cc089b Homepage: http://ros.org/wiki/velodyne_pointcloud

Package: ros-humble-velodyne-description Status: install ok installed Priority: optional Section: misc Installed-Size: 1341 Maintainer: Kevin Hallenbeck khallenbeck@dataspeedinc.com Architecture: amd64 Version: 2.0.3-1jammy.20240217.045819 Depends: ros-humble-urdf, ros-humble-xacro, ros-humble-ros-workspace Description: URDF and meshes describing Velodyne laser scanners. Description-md5: d1f0960c1ca633e46c52f8e35737882c Homepage: http://wiki.ros.org/velodyne_description

Package: ros-humble-velodyne-driver-dbgsym Status: install ok installed Priority: optional Section: debug Installed-Size: 1953 Maintainer: Josh Whitley whitleysoftwareservices@gmail.com Architecture: amd64 Source: ros-humble-velodyne-driver Version: 2.4.0-1jammy.20240217.092512 Depends: ros-humble-velodyne-driver (= 2.4.0-1jammy.20240217.092512) Description: debug symbols for ros-humble-velodyne-driver Description-md5: f3fc286c05fb26ebcfe2e76e4974cccb Package-Type: ddeb Auto-Built-Package: debug-symbols Build-Ids: a0ad8c4b08ce57f546df38dfee15663a90f742b8 dd9d9308332da6b930083ab7cb2d68e1e8ef2cd0 f6a5f4c5345520af69fc5013f05ecef4b42e1022

Package: ros-humble-velodyne-gazebo-plugins Status: install ok installed Priority: optional Section: misc Installed-Size: 415 Maintainer: Kevin Hallenbeck khallenbeck@dataspeedinc.com Architecture: amd64 Version: 2.0.3-1jammy.20240217.094535 Depends: libc6 (>= 2.34), libgazebo11 (>= 11.10.2+dfsg), libgcc-s1 (>= 3.3.1), libignition-math6-6 (>= 6.10.0+ds3), libprotobuf23 (>= 3.12.4), libsdformat9-9 (>= 9.7.0+ds), libstdc++6 (>= 11), libtbb12 (>= 2021.4.0), ros-humble-gazebo-dev, ros-humble-gazebo-msgs, ros-humble-gazebo-ros, ros-humble-rclcpp, ros-humble-sensor-msgs, ros-humble-ros-workspace Description: Gazebo plugin to provide simulated data from Velodyne laser scanners. Description-md5: 668206b49ba5299bae8ef9a65f13118f Homepage: http://wiki.ros.org/velodyne_gazebo_plugins

Package: ros-humble-velodyne-gazebo-plugins-dbgsym Status: install ok installed Priority: optional Section: debug Installed-Size: 2108 Maintainer: Kevin Hallenbeck khallenbeck@dataspeedinc.com Architecture: amd64 Source: ros-humble-velodyne-gazebo-plugins Version: 2.0.3-1jammy.20240217.094535 Depends: ros-humble-velodyne-gazebo-plugins (= 2.0.3-1jammy.20240217.094535) Description: debug symbols for ros-humble-velodyne-gazebo-plugins Description-md5: 4694e05d787ea8b4e255317c5a9bdf91 Package-Type: ddeb Auto-Built-Package: debug-symbols Build-Ids: c405df2f2b299a7d2f130d1527b4ac5d84a3e25b

Package: ros-humble-velodyne-laserscan-dbgsym Status: install ok installed Priority: optional Section: debug Installed-Size: 2695 Maintainer: Josh Whitley whitleysoftwareservices@gmail.com Architecture: amd64 Source: ros-humble-velodyne-laserscan Version: 2.4.0-1jammy.20240217.082755 Depends: ros-humble-velodyne-laserscan (= 2.4.0-1jammy.20240217.082755) Description: debug symbols for ros-humble-velodyne-laserscan Description-md5: 52d8729487fa4f8c6403ad25dffd8c7f Package-Type: ddeb Auto-Built-Package: debug-symbols Build-Ids: 7b93d254fdbea9c8d88dd2d53242a0c9cc42dfa1 cdc51ee2f6df58e22f697f758ad1992954b8c549

Package: ros-humble-velodyne-msgs-dbgsym Status: install ok installed Priority: optional Section: debug Installed-Size: 357 Maintainer: Josh Whitley whitleysoftwareservices@gmail.com Architecture: amd64 Source: ros-humble-velodyne-msgs Version: 2.4.0-1jammy.20240217.061835 Depends: ros-humble-velodyne-msgs (= 2.4.0-1jammy.20240217.061835) Description: debug symbols for ros-humble-velodyne-msgs Description-md5: d3ee03a63479db72f3e7e4d59c5780d9 Package-Type: ddeb Auto-Built-Package: debug-symbols Build-Ids: 05a1cc24d4fe2883a7f4b7b1a2b7dd7318eea5ed 060043fb85fdde102c401b3e93a8e6f1d026bebb 0f6c1ab9297b2dd2f459dd76610cc4c2f31659a7 30bfc4aea34affcde556370f4091187ceb568cf1 782650c626ecc906b22ad33eff800204c8c3d857 84a6b2f0dfb15ed68ce61626a446dfcf14ec19aa 8594947b74c502435f0d79b74031d5ac5c3647e2 a1cd14e1f39b491f993e3969131aaf59ea43ed5f a3620a5a4da39c6eca9cbfe55aebad019c0548a1 ad91e8b5b91c6afc71e4a3a4ce7d74cd33b3a535 c1312b002b3bc1a028611be982c2586bc0e9e00c ed6bdfb9ef42d3b3be4d4b0e5295785c048c2561

Package: ros-humble-velodyne-pointcloud-dbgsym Status: install ok installed Priority: optional Section: debug Installed-Size: 6356 Maintainer: Josh Whitley whitleysoftwareservices@gmail.com Architecture: amd64 Source: ros-humble-velodyne-pointcloud Version: 2.4.0-1jammy.20240217.093714 Depends: ros-humble-velodyne-pointcloud (= 2.4.0-1jammy.20240217.093714) Description: debug symbols for ros-humble-velodyne-pointcloud Description-md5: 17e0d906c368ff9eec63ca0a762932dc Package-Type: ddeb Auto-Built-Package: debug-symbols Build-Ids: 1cb672ee30b6f495d13ecd32e546400c92dafe2b c13362e419d20897d661f86d62d9960fdf576992 d8843294a905e6c2ef00ea02be3593fdcae2fe51 fbce3d44ed1791af28bdc71851296e44422b612c

Package: ros-humble-velodyne-simulator Status: install ok installed Priority: optional Section: misc Installed-Size: 41 Maintainer: Kevin Hallenbeck khallenbeck@dataspeedinc.com Architecture: amd64 Version: 2.0.3-1jammy.20240217.095328 Depends: ros-humble-velodyne-description, ros-humble-velodyne-gazebo-plugins, ros-humble-ros-workspace Description: Metapackage allowing easy installation of Velodyne simulation components. Description-md5: c152fb8c6a88ad26b0b2c8a16fa9f67e Homepage: http://wiki.ros.org/velodyne_simulator

AIR-UFG / air_systemTwizy