Crash after dynamically adding plugin LinearBatteryPlugin to non-existing entity

[gzfuzz]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build?
  source build
  gz-sim version: 907efc3
  built with
  gcc version: 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04)
  build options: -DCMAKE_BUILD_TYPE=Coverage

Description

• Expected behavior: Gazebo doesn't crash
• Actual behavior: Gazebo crashes

Steps to reproduce

1. gz sim a.txt -r
2. add plugin LinearBatteryPlugin with gz service command, to a non-existing entity id

gz service --timeout 10000 -s /world/world_0/entity/system/add --reptype gz.msgs.Boolean --reqtype gz.msgs.EntityPlugin_V --req 'entity {
  id: 100
}
plugins {
  name: "gz::sim::systems::LinearBatteryPlugin"
  filename: "gz-sim-linearbatteryplugin-system"
  innerxml: "<!--Li-ion battery spec from LIR18650 datasheet-->\n        \n<battery_name>linear_battery</battery_name>\n        \n<voltage>4.2</voltage>\n        \n<open_circuit_voltage_constant_coef>4.2</open_circuit_voltage_constant_coef>\n        \n<open_circuit_voltage_linear_coef>-2.0</open_circuit_voltage_linear_coef>\n        \n<initial_charge>2.5</initial_charge>\n        \n<capacity>2.5 </capacity>\n        \n<resistance>0.07</resistance>\n        \n<smooth_current_tau>2.0</smooth_current_tau>\n        \n<enable_recharge>true</enable_recharge>\n        \n<!-- charging I = c / t, discharging I = P / V,\n          charging I should be > discharging I -->\n        \n<charging_time>3.0</charging_time>\n        \n<!-- Consumer-specific -->\n        \n<power_load>2.1</power_load>\n        \n<start_on_motion>true</start_on_motion>\n      "
}'

or

1. tar xf a.tar.gz
2. bash a.sh

This crash is similar to #2508, but the fix seems to be different?

Output

[Err] [EntityComponentManager.cc:1083] Trying to create a component of type [9904571861011273795] attached to entity [100], but this entity does not exist. This create component request will be ignored.
[Err] [LinearBatteryPlugin.cc:219] Linear battery plugin should be attached to a model entity. Failed to initialize.

Stack trace (most recent call last):
#31   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9b3ef24e3f, in __libc_start_main
#30   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9b3ef24d8f, in
#29   Object "gz sim server", at 0x5562e6baf17e, in
#28   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f1cce19, in ruby_run_node
#27   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f1c9317, in
#26   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f35e33c, in rb_vm_exec
#25   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f358cc6, in
#24   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f355ff5, in
#23   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f353c64, in
#22   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f29fa4e, in
#21   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f1ca9ac, in rb_protect
#20   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f362c91, in rb_yield
#19   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f35e33c, in rb_vm_exec
#18   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f358cc6, in
#17   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f355ff5, in
#16   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f353c64, in
#15   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7f9b3af0144b, in
#14   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f9b3f3210b8, in rb_nogvl
#13   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7f9b3af00d6b, in
#12   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7f9b3aef2492, in
#11   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7f9b3aef5e2d, in
#10   Object "/data/play/robot/workspace/install/lib/libgz-sim8-gz.so.8.6.0", at 0x7f9b3a249d7d, in runServer
#9    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7f9b3890356a, in gz::sim::v8::Server::Run(bool, unsigned long, bool)
#8    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7f9b3892efdf, in
#7    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7f9b3895fd84, in gz::sim::v8::SimulationRunner::Run(unsigned long)
#6    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7f9b38960ba2, in gz::sim::v8::SimulationRunner::Step(gz::sim::v8::UpdateInfo const&)
#5    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7f9b3895cf2a, in gz::sim::v8::SimulationRunner::UpdateSystems()
#4    Object "/data/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-linearbatteryplugin-system.so", at 0x7f9afa04d8ef, in gz::sim::v8::systems::LinearBatteryPlugin::PreUpdate(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager&)
#3    Object "/home/ren/play/robot/workspace/install/lib/libgz-common5.so.5", at 0x7f9b35c0a3e7, in gz::common::Battery::SetPowerLoad(unsigned int, double)
#2    Object "/home/ren/play/robot/workspace/install/lib/libgz-common5.so.5", at 0x7f9b35c0c3a9, in std::unique_ptr<gz::common::Battery::Implementation, void (*)(gz::common::Battery::Implementation*)>::operator->() const
#1    Object "/home/ren/play/robot/workspace/install/lib/libgz-common5.so.5", at 0x7f9b35c0daa9, in std::unique_ptr<gz::common::Battery::Implementation, void (*)(gz::common::Battery::Implementation*)>::get() const
#0    Object "/home/ren/play/robot/workspace/install/lib/libgz-common5.so.5", at 0x7f9b35c0f52c, in std::__uniq_ptr_impl<gz::common::Battery::Implementation, void (*)(gz::common::Battery::Implementation*)>::_M_ptr() const
Segmentation fault (Address not mapped to object [0x10])

[iche033]

#2516