search

ArduPilot / ardupilot_gazebo

Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers
GNU Lesser General Public License v3.0
82 stars 78 forks source link

gazebo server crash on macOS when gazebo gui launch #25

Closed xlla closed 2 years ago

xlla commented 2 years ago

Bug report

Issue details gazebo server will crash at once on macOS when gazebo gui launch

Version ignition-garden branch

Logs

server launch first

ign gazebo -s -v 4 -r iris_arducopter_runway.world
[Msg] Ignition Gazebo Server v7.0.0~pre1
this->dataPtr->config.Source() 2
[Msg] Loading default world.
[Msg] Loading SDF world file[/Users/xlla/git/ardupilot_gazebo-1/worlds/iris_arducopter_runway.world].
[Msg] Loaded level [3]
[Msg] No systems loaded from SDF, loading defaults
[Dbg] [ServerConfig.cc:1004] Loaded (3) plugins from file [/Users/xlla/.ignition/gazebo/7/server.config]
[Dbg] [Physics.cc:824] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/local/Cellar/ignition-physics6/5.999.999~0~20220414/lib/ign-physics-6/engine-plugins/libignition-physics-dartsim-plugin.dylib]
[Dbg] [SystemManager.cc:89] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[Msg] Create service on [/world/iris_arducopter_runway/create]
[Msg] Remove service on [/world/iris_arducopter_runway/remove]
[Msg] Pose service on [/world/iris_arducopter_runway/set_pose]
[Msg] Pose service on [/world/iris_arducopter_runway/set_pose_vector]
[Msg] Light configuration service on [/world/iris_arducopter_runway/light_config]
[Msg] Physics service on [/world/iris_arducopter_runway/set_physics]
[Msg] SphericalCoordinates service on [/world/iris_arducopter_runway/set_spherical_coordinates]
[Msg] Enable collision service on [/world/iris_arducopter_runway/enable_collision]
[Msg] Disable collision service on [/world/iris_arducopter_runway/disable_collision]
[Msg] Material service on [/world/iris_arducopter_runway/visual_config]
[Msg] Material service on [/world/iris_arducopter_runway/wheel_slip]
[Dbg] [SystemManager.cc:89] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:89] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[Msg] Serving world controls on [/world/iris_arducopter_runway/control], [/world/iris_arducopter_runway/control/state] and [/world/iris_arducopter_runway/playback/control]
[Msg] Serving GUI information on [/world/iris_arducopter_runway/gui/info]
[Msg] World [iris_arducopter_runway] initialized with [default_physics] physics profile.
[Msg] Serving world SDF generation service on [/world/iris_arducopter_runway/generate_world_sdf]
[Msg] Serving world names on [/gazebo/worlds]
[Msg] Resource path add service on [/gazebo/resource_paths/add].
[Msg] Resource path get service on [/gazebo/resource_paths/get].
[Msg] Resource paths published on [/gazebo/resource_paths].
[Msg] Server control service on [/server_control].
[Dbg] [SystemManager.cc:89] Loaded system [ignition::gazebo::systems::JointStatePublisher] for entity [9]
[Dbg] [SystemManager.cc:89] Loaded system [ignition::gazebo::systems::LiftDrag] for entity [9]
[Dbg] [SystemManager.cc:61] This system Plugin [ignition::gazebo::systems::LiftDrag] is already loaded in this entity [9]
[Dbg] [SystemManager.cc:61] This system Plugin [ignition::gazebo::systems::LiftDrag] is already loaded in this entity [9]
[Dbg] [SystemManager.cc:61] This system Plugin [ignition::gazebo::systems::LiftDrag] is already loaded in this entity [9]
[Dbg] [SystemManager.cc:61] This system Plugin [ignition::gazebo::systems::LiftDrag] is already loaded in this entity [9]
[Dbg] [SystemManager.cc:61] This system Plugin [ignition::gazebo::systems::LiftDrag] is already loaded in this entity [9]
[Dbg] [SystemManager.cc:61] This system Plugin [ignition::gazebo::systems::LiftDrag] is already loaded in this entity [9]
[Dbg] [SystemManager.cc:61] This system Plugin [ignition::gazebo::systems::LiftDrag] is already loaded in this entity [9]
[Msg] ApplyJointForce subscribing to Double messages on [/model/iris/joint/rotor_0_joint/cmd_force]
[Dbg] [SystemManager.cc:89] Loaded system [ignition::gazebo::systems::ApplyJointForce] for entity [9]
[Dbg] [SystemManager.cc:61] This system Plugin [ignition::gazebo::systems::ApplyJointForce] is already loaded in this entity [9]
[Dbg] [SystemManager.cc:61] This system Plugin [ignition::gazebo::systems::ApplyJointForce] is already loaded in this entity [9]
[Dbg] [SystemManager.cc:61] This system Plugin [ignition::gazebo::systems::ApplyJointForce] is already loaded in this entity [9]
[Dbg] [SystemManager.cc:89] Loaded system [ArduPilotPlugin] for entity [9]
[Dbg] [Physics.cc:824] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/local/Cellar/ignition-physics6/5.999.999~0~20220414/lib/ign-physics-6/engine-plugins/libignition-physics-dartsim-plugin.dylib]
[Dbg] [SystemManager.cc:89] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
[Msg] Create service on [/world/iris_arducopter_runway/create]
[Msg] Remove service on [/world/iris_arducopter_runway/remove]
[Msg] Pose service on [/world/iris_arducopter_runway/set_pose]
[Msg] Pose service on [/world/iris_arducopter_runway/set_pose_vector]
[Msg] Light configuration service on [/world/iris_arducopter_runway/light_config]
[Msg] Physics service on [/world/iris_arducopter_runway/set_physics]
[Msg] SphericalCoordinates service on [/world/iris_arducopter_runway/set_spherical_coordinates]
[Msg] Enable collision service on [/world/iris_arducopter_runway/enable_collision]
[Msg] Disable collision service on [/world/iris_arducopter_runway/disable_collision]
[Msg] Material service on [/world/iris_arducopter_runway/visual_config]
[Msg] Material service on [/world/iris_arducopter_runway/wheel_slip]
[Dbg] [SystemManager.cc:89] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
[Dbg] [SystemManager.cc:89] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
[Dbg] [SystemManager.cc:89] Loaded system [ignition::gazebo::systems::Imu] for entity [1]
[Msg] Download models in parallel has finished. Now you can start the simulation
[Msg] Found no publishers on /stats, adding root stats topic
[Msg] Found no publishers on /clock, adding root clock topic
[Dbg] [SimulationRunner.cc:494] Creating PostUpdate worker threads: 6
[Dbg] [SimulationRunner.cc:505] Creating postupdate worker thread (0)
[Dbg] [SimulationRunner.cc:505] Creating postupdate worker thread (1)
[Dbg] [SimulationRunner.cc:505] Creating postupdate worker thread (2)
[Dbg] [SimulationRunner.cc:505] Creating postupdate worker thread (3)
[Dbg] [SimulationRunner.cc:505] Creating postupdate worker thread (4)
[Dbg] [ArduPilotPlugin.cc:777] Computed IMU topic to be: world/iris_arducopter_runway/model/iris/link/imu_link/sensor/imu_sensor/imu
[Msg] Using [ode] collision detector
[Msg] Using [DantzigBoxedLcpSolver] solver.
[Dbg] [ImuSensor.cc:148] IMU data for [iris::imu_link::imu_sensor] advertised on [world/iris_arducopter_runway/model/iris/link/imu_link/sensor/imu_sensor/imu]
[Msg] Serving scene information on [Serving scene information on [[Msg] /scene/infoscene/info/world/iris_arducopter_runway
scene/infoscene/info]
[Msg] Serving graph information on [Serving graph information on [[Msg] /Serving graph information on [scene/graph/world/iris_arducopter_runway]/
]]
[Msg] Serving full state on [/world/iris_arducopter_runway//[Msg] ]Serving full state on [
//state]
[Msg] Serving full state (async) on [Serving full state (async) on [[Msg] /Serving full state (async) on [state_async/world/iris_arducopter_runway]/
]
[Msg] Publishing scene information on [/world/iris_arducopter_runway/scene/info]]
[Msg] Publishing scene information on [Publishing scene information on [/world/iris_arducopter_runway/scene/info]
[Msg] Publishing entity deletions on [/world/iris_arducopter_runway/scene/deletion]][Msg] Publishing entity deletions on [Publishing entity deletions on [/world/iris_arducopter_runway/scene/deletion]
[Msg] Publishing state changes on [Publishing state changes on [[Msg] ]Publishing state changes on [
]]
[Msg] Publishing pose messages on [Publishing pose messages on [/world/iris_arducopter_runway/world/iris_arducopter_runway////pose/infopose/infopose/infopose/info]]]]

[Msg] Publishing dynamic pose messages on [Publishing dynamic pose messages on [/world/iris_arducopter_runway//dynamic_pose/infodynamic_pose/info]]

[Dbg] [SimulationRunner.cc:259] Rewinding simulation back to time zero.

gui launch, then it got blank gui,

[Msg] Ignition Gazebo GUI    v7.0.0~pre1
[Dbg] [Application.cc:94] Initializing application.
[Dbg] [Application.cc:102] Qt using Metal graphics interface
[GUI] [Dbg] [Application.cc:570] Create main window
[GUI] [Dbg] [PathManager.cc:66] Requesting resource paths through [/gazebo/resource_paths/get]
[GUI] [Wrn] [Application.cc:819] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Wrn] [Application.cc:819] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Dbg] [Gui.cc:156] GUI requesting list of world names. The server may be busy downloading resources. Please be patient.
[GUI] [Dbg] [PathManager.cc:55] Received resource paths.
[GUI] [Dbg] [Gui.cc:215] Requesting GUI from [/world/iris_arducopter_runway/gui/info]...
[GUI] [Dbg] [GuiRunner.cc:145] Requesting initial state from [/world/iris_arducopter_runway/state]...
[GUI] [Msg] Loading config [/Users/xlla/.ignition/gazebo/7/gui.config]
[GUI] [Dbg] [Application.cc:433] Loading plugin [MinimalScene]
[GUI] [Dbg] [MinimalScene.cc:634] Creating ign-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:634] Creating ign-rendering interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:788] Creating render thread interface for OpenGL
[GUI] [Dbg] [MinimalScene.cc:1245] change plugin element graphics_api metal
[GUI] [Dbg] [MinimalScene.cc:641] Creating ign-renderering interface for Metal
[GUI] [Dbg] [MinimalScene.cc:794] Creating render thread interface for Metal
[GUI] [Msg] Added plugin [3D View] to main window
[GUI] [Msg] Loaded plugin [MinimalScene] from path [/usr/local/Cellar/ignition-gui7/6.999.999~0~20220414/lib/ign-gui-7/plugins/libMinimalScene.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [EntityContextMenuPlugin]
[GUI] [Msg] Added plugin [Entity Context Menu] to main window
[GUI] [Msg] Loaded plugin [EntityContextMenuPlugin] from path [/usr/local/Cellar/ignition-gazebo7/6.999.999~0~20220412/lib/ign-gazebo-7/plugins/gui/libEntityContextMenuPlugin.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [GzSceneManager]
[GUI] [Msg] Added plugin [Scene Manager] to main window
[GUI] [Msg] Loaded plugin [GzSceneManager] from path [/usr/local/Cellar/ignition-gazebo7/6.999.999~0~20220412/lib/ign-gazebo-7/plugins/gui/libGzSceneManager.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [InteractiveViewControl]
[GUI] [Msg] Camera view controller topic advertised on [/gui/camera/view_control]
[GUI] [Msg] Added plugin [Interactive view control] to main window
[GUI] [Msg] Loaded plugin [InteractiveViewControl] from path [/usr/local/Cellar/ignition-gui7/6.999.999~0~20220414/lib/ign-gui-7/plugins/libInteractiveViewControl.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [CameraTracking]
[GUI] [Msg] Added plugin [Camera tracking] to main window
[GUI] [Msg] Loaded plugin [CameraTracking] from path [/usr/local/Cellar/ignition-gui7/6.999.999~0~20220414/lib/ign-gui-7/plugins/libCameraTracking.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [MarkerManager]
[GUI] [Msg] Listening to stats on [/world/iris_arducopter_runway/stats]
[GUI] [Msg] Added plugin [Marker Manager] to main window
[GUI] [Msg] Loaded plugin [MarkerManager] from path [/usr/local/Cellar/ignition-gui7/6.999.999~0~20220414/lib/ign-gui-7/plugins/libMarkerManager.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [SelectEntities]
[GUI] [Msg] Added plugin [Select entities] to main window
[GUI] [Msg] Loaded plugin [SelectEntities] from path [/usr/local/Cellar/ignition-gazebo7/6.999.999~0~20220412/lib/ign-gazebo-7/plugins/gui/libSelectEntities.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [Spawn]
[GUI] [Msg] Added plugin [Spawn] to main window
[GUI] [Msg] Loaded plugin [Spawn] from path [/usr/local/Cellar/ignition-gazebo7/6.999.999~0~20220412/lib/ign-gazebo-7/plugins/gui/libSpawn.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [VisualizationCapabilities]
[GUI] [Msg] View as transparent service on [/gui/view/transparent]
[GUI] [Msg] View as wireframes service on [/gui/view/wireframes]
[GUI] [Msg] View center of mass service on [/gui/view/com]
[GUI] [Msg] View inertia service on [/gui/view/inertia]
[GUI] [Msg] View collisions service on [/gui/view/collisions]
[GUI] [Msg] View joints service on [/gui/view/joints]
[GUI] [Msg] View frames service on [/gui/view/frames]
[GUI] [Msg] Added plugin [Visualization capabilities] to main window
[GUI] [Msg] Loaded plugin [VisualizationCapabilities] from path [/usr/local/Cellar/ignition-gazebo7/6.999.999~0~20220412/lib/ign-gazebo-7/plugins/gui/libVisualizationCapabilities.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [WorldControl]
[GUI] [Msg] Using world control service [/world/iris_arducopter_runway/control]
[GUI] [Msg] Listening to stats on [/world/iris_arducopter_runway/stats]
[GUI] [Msg] Added plugin [World control] to main window
[GUI] [Msg] Loaded plugin [WorldControl] from path [/usr/local/Cellar/ignition-gui7/6.999.999~0~20220414/lib/ign-gui-7/plugins/libWorldControl.dylib]
[GUI] [Dbg] [WorldControl.cc:245] Using an event to share WorldControl msgs with the server
[GUI] [Dbg] [Application.cc:433] Loading plugin [WorldStats]
[GUI] [Msg] Listening to stats on [/world/iris_arducopter_runway/stats]
[GUI] [Msg] Added plugin [World stats] to main window
[GUI] [Msg] Loaded plugin [WorldStats] from path [/usr/local/Cellar/ignition-gui7/6.999.999~0~20220414/lib/ign-gui-7/plugins/libWorldStats.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [Shapes]
[GUI] [Msg] Added plugin [Shapes] to main window
[GUI] [Msg] Loaded plugin [Shapes] from path [/usr/local/Cellar/ignition-gazebo7/6.999.999~0~20220412/lib/ign-gazebo-7/plugins/gui/libShapes.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [Lights]
[GUI] [Msg] Added plugin [Lights] to main window
[GUI] [Msg] Loaded plugin [Lights] from path [/usr/local/Cellar/ignition-gazebo7/6.999.999~0~20220412/lib/ign-gazebo-7/plugins/gui/libLights.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [TransformControl]
[GUI] [Dbg] [TransformControl.cc:219] Legacy mode is disabled; this plugin must be used with MinimalScene.
[GUI] [Msg] Added plugin [Transform control] to main window
[GUI] [Msg] Loaded plugin [TransformControl] from path [/usr/local/Cellar/ignition-gazebo7/6.999.999~0~20220412/lib/ign-gazebo-7/plugins/gui/libTransformControl.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [Screenshot]
[GUI] [Msg] Screenshot service on [/gui/screenshot]
[GUI] [Msg] Added plugin [Screenshot] to main window
[GUI] [Msg] Loaded plugin [Screenshot] from path [/usr/local/Cellar/ignition-gui7/6.999.999~0~20220414/lib/ign-gui-7/plugins/libScreenshot.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [CopyPaste]
[GUI] [Msg] Added plugin [Copy/Paste] to main window
[GUI] [Msg] Loaded plugin [CopyPaste] from path [/usr/local/Cellar/ignition-gazebo7/6.999.999~0~20220412/lib/ign-gazebo-7/plugins/gui/libCopyPaste.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [ComponentInspector]
[GUI] [Msg] Added plugin [Component inspector] to main window
[GUI] [Msg] Loaded plugin [ComponentInspector] from path [/usr/local/Cellar/ignition-gazebo7/6.999.999~0~20220412/lib/ign-gazebo-7/plugins/gui/libComponentInspector.dylib]
[GUI] [Dbg] [Application.cc:433] Loading plugin [EntityTree]
[GUI] [Msg] Added plugin [Entity tree] to main window
[GUI] [Msg] Loaded plugin [EntityTree] from path [/usr/local/Cellar/ignition-gazebo7/6.999.999~0~20220412/lib/ign-gazebo-7/plugins/gui/libEntityTree.dylib]
[GUI] [Dbg] [Application.cc:303] Loading window config
[GUI] [Msg] Using server control service [/server_control]
[GUI] [Dbg] [Application.cc:584] Applying config
[GUI] [Wrn] [Application.cc:819] [QT] file::/Gazebo/GazeboDrawer.qml:147:3: QML Dialog: Binding loop detected for property "implicitHeight"
[GUI] [Wrn] [Application.cc:819] [QT] file::/WorldStats/WorldStats.qml:53:3: QML RowLayout: Binding loop detected for property "x"
[GUI] [Dbg] [MinimalScene.cc:641] Creating ign-renderering interface for Metal
[GUI] [Dbg] [MinimalScene.cc:794] Creating render thread interface for Metal
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [MinimalScene.cc:583] Create scene [scene]
[GUI] [Dbg] [MinimalScene.cc:826] Creating texture node render interface for Metal
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [TransformControl.cc:528] TransformControl plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [Spawn.cc:289] Spawn plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [SelectEntities.cc:452] SelectEntities plugin is using camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [MarkerManager.cc:173] Advertise /marker/list service.
[GUI] [Dbg] [MarkerManager.cc:183] Advertise /marker/list.
[GUI] [Dbg] [MarkerManager.cc:193] Advertise /marker_array.
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [CameraTracking.cc:181] CameraTrackingPrivate plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Move to service on [/gui/move_to]
[GUI] [Msg] Follow service on [/gui/follow]
[GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[GUI] [Msg] Follow offset service on [/gui/follow/offset]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Dbg] [InteractiveViewControl.cc:130] InteractiveViewControl plugin is moving camera [scene::Camera(65527)]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]
[GUI] [Msg] Loading plugin [ignition-rendering-ogre2]

server will crash 

Stack trace (most recent call last) in thread 123145340256256:
[Dbg] [EntityComponentManager.cc:1617] Updated state thread iterators: 8 threads processing around 5 entities each.
[Wrn] [Component.hh:144] Trying to serialize component with data type [N3sdf3v135WorldE], which doesn't have `operator<<`. Component will not be serialized.
#4    Object "libsystem_pthread.dylib", at 0x7fff55b2850c, in _pthread_start + 376
#3    Object "libsystem_pthread.dylib", at 0x7fff55b28660, in _pthread_body + 339
[Wrn] [Component.hh:144] Trying to serialize component with data type [#2    Object "libignition-gazebo7.7.dylib", at NSt3__16vectorIdNS_9allocatorIdEEEE0x10add2292, in void* std::__1::__thread_proxy >, ignition::gazebo::v7::SimulationRunner::ProcessSystemQueue()::$_0> >(void*) + 402
], which doesn't have #1    Object "libignition-gazebo-scene-broadcaster-system.dylib", at `operator<<`. Component will not be serialized.0x11b46beb2, in ignition::gazebo::v7::systems::SceneBroadcaster::PostUpdate(ignition::gazebo::v7::UpdateInfo const&, ignition::gazebo::v7::EntityComponentManager const&) + 1618

#0    Object "libignition-gazebo7.7.dylib", at 0x10ad19281, in ignition::gazebo::v7::EntityComponentManager::State(ignition::msgs::SerializedStateMap&, std::__1::unordered_set, std::__1::equal_to, std::__1::allocator > const&, std::__1::unordered_set, std::__1::equal_to, std::__1::allocator > const&, bool) const + 273
Segmentation fault: 11
xlla commented 2 years ago

I think the server side crash log is fuzzy due to multi-thread output on same terminal, it is not cause by github's html render.

server-crash
srmainwaring commented 2 years ago

Hi @xlla, I've tried to replicate your issue running the ignition-garden branch of ardupilot_gazebo against the most recent dev versions of Gazebo Garden. AFAICT everything is working as expected.

There is one update required (to the ignition-cmake dependency - which is now version 3) when using the current Garden version. It could be that you have some stale dependencies or a library conflict somewhere (depending on whether you have tried to install other OSRF libraries using homebrew)?

xlla commented 2 years ago

Hi @srmainwaring, I found the reason.

I have built all depend libraries base on main branch except ogre-next on branch v2-2, using same cmake args copied from brew installation logs.

for ardupilot_gazebo, at first, I use a fork of your fork base on branch ignition-garden, it's latest commit was Fri Nov 5. until read your reply, I switch to the ignition-garden branch of ardupilot_gazebo, it's latest commit was Thu Mar 31. but the issue remain.

then I have add many igndbg trace statements, I found EntityComponentManager::State maybe have concurrency problem.

I remember now, in recently, I have merged gz-sim PR1484, after revert this PR, gazebo works again!

We can close issue, thanks!