Gazebo harmonic get crash when subscribing to /world/default/dynamic_pose/info within actors in the world

[HoangfDungx]

Environment

• OS Version: Ubuntu 24.04, ROS2 Jazzy

My world model has the following actor tag:

<actor name="actor_car">
        <link name="actor_car_link">
            <visual name="actor_car_visual">
                <geometry>
                    <mesh>
                        <uri> --- path to stl file --- </uri>
                    </mesh>
                </geometry>
            </visual>
            <collision name="actor_car_collision">
                <geometry>
                    <mesh>
                        <uri> --- path to stl file --- </uri>
                    </mesh>
                </geometry>
            </collision>
            <inertial>
                <mass>5.0</mass>
            </inertial>
        </link>

        <script>
            <trajectory id="0" type="linear">
               --- List of waypoints here ---
            </trajectory>
        </script>
    </actor>

Description

• Expected behavior: The actor moves in the world, and it's possible to subscribe to /world/default/dynamic_pose/info to watch entities' poses.

• Actual behavior: Gazebo still runs without subscription, but gets crashed right after creating a subscription

Steps to reproduce

1. Launch the world within actor tag
2. Run the echo command:

gz topic -e -t /world/default/dynamic_pose/info

Output

[gazebo-2] Stack trace (most recent call last) in thread 12130:
[gazebo-2] #7    Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
[gazebo-2] #6    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff301f29c3b, in 
[gazebo-2] #5    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff301e9caa3, in 
[gazebo-2] #4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7ff2fc4ecdb3, in 
[gazebo-2] #3    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/libgz-sim8.so.8", at 0x7ff2fb54ed45, in 
[gazebo-2] #2    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so", at 0x7ff2c709fe05, in gz::sim::v8::systems::SceneBroadcaster::PostUpdate(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager const&)
[gazebo-2] #1    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so", at 0x7ff2c70a4b37, in gz::sim::v8::systems::SceneBroadcasterPrivate::PoseUpdate(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager const&)
[gazebo-2] #0    Object "/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/libgz-sim-scene-broadcaster-system.so", at 0x7ff2c70ad54f, in 
[gazebo-2] Segmentation fault (Address not mapped to object [0x8])
[gazebo-2] [Msg] Publishing dynamic pose [/gui/currently_tracked]
[gazebo-2] [GUI] [Msg] Added plugin [Entity tree] to main window
[gazebo-2] [GUI] [Msg] Loaded plugin [EntityTree] from path [/opt/ros/jazzy/opt/gz_sim_vendor/lib/gz-sim-8/plugins/gui/libEntityTree.so]
[gazebo-2] [GUI] [Msg] Using server control service [/server_control]
[gazebo-2] [GUI] [Msg] Loading plugin [gz-rendering-ogre2]
[gazebo-2] [GUI] [Msg] Move to service on [/gui/move_to]
[gazebo-2] [GUI] [Msg] Follow service on [/gui/follow] (deprecated)
[gazebo-2] [GUI] [Msg] Tracking topic on [/gui/track]
[gazebo-2] [GUI] [Msg] Tracking status topic on [/gui/currently_tracked]
[gazebo-2] [GUI] [Msg] Move to pose service on [/gui/move_to/pose]
[gazebo-2] [GUI] [Msg] Camera pose topic advertised on [/gui/camera/pose]
[gazebo-2] [GUI] [Msg] Follow offset service on [/gui/follow/offset] (deprecated)
[INFO] [gazebo-2]: process has finished cleanly [pid 11863]