Crash after dynamically adding plugin MecanumDrive 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 # empty world with name world_0
2. add plugin MecanumDrive 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::MecanumDrive"
  filename: "gz-sim-mecanum-drive-system"
  innerxml: "<front_left_joint xmlns:gz=\"http://gazebosim.org/schema\">front_left_wheel_joint</front_left_joint>\n        \n<front_right_joint xmlns:gz=\"http://gazebosim.org/schema\">front_right_wheel_joint</front_right_joint>\n        \n<back_left_joint xmlns:gz=\"http://gazebosim.org/schema\">rear_left_wheel_joint</back_left_joint>\n        \n<back_right_joint xmlns:gz=\"http://gazebosim.org/schema\">rear_right_wheel_joint</back_right_joint>\n        \n<wheel_separation xmlns:gz=\"http://gazebosim.org/schema\">1.25</wheel_separation>\n        \n<wheelbase xmlns:gz=\"http://gazebosim.org/schema\">1.511</wheelbase>\n        \n<wheel_radius xmlns:gz=\"http://gazebosim.org/schema\">0.3</wheel_radius>\n        \n<min_acceleration xmlns:gz=\"http://gazebosim.org/schema\">-5</min_acceleration>\n        \n<max_acceleration xmlns:gz=\"http://gazebosim.org/schema\">5</max_acceleration>\n      "
}'

Also similar to #2508 , seems to be caused here?

gz-sim/src/systems/mecanum_drive/MecanumDrive.cc

Line 468 in 907efc3

void MecanumDrivePrivate::UpdateVelocity(

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] [MecanumDrive.cc:192] MecanumDrive plugin should be attached to a model entity. Failed to initialize.

Stack trace (most recent call last) in thread 235815:
#16   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#15   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3ebbbcd84f, in
#14   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3ebbb3bac2, in
#13   Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f3eb7878252, in
#12   Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7f3eb5517c8f, in
#11   Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7f3eb5517ccf, in
#10   Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7f3eb5517d43, in
#9    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7f3eb5517e15, in
#8    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7f3eb5517ead, in
#7    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7f3eb5507fb1, in
#6    Object "/data/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-mecanum-drive-system.so", at 0x7f3e7844ac0b, in gz::sim::v8::systems::MecanumDrive::PostUpdate(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager const&)
#5    Object "/data/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-mecanum-drive-system.so", at 0x7f3e7844adfb, in gz::sim::v8::systems::MecanumDrivePrivate::UpdateVelocity(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager const&)
#4    Object "/home/ren/play/robot/workspace/install/lib/libgz-math7.so.7", at 0x7f3eb03318e9, in gz::math::v7::SpeedLimiter::Limit(double&, double, double, std::chrono::duration<long, std::ratio<1l, 1000000000l> >) const
#3    Object "/home/ren/play/robot/workspace/install/lib/libgz-math7.so.7", at 0x7f3eb0331e0e, in gz::math::v7::SpeedLimiter::LimitJerk(double&, double, double, std::chrono::duration<long, std::ratio<1l, 1000000000l> >) const
#2    Object "/home/ren/play/robot/workspace/install/lib/libgz-math7.so.7", at 0x7f3eb0332341, in std::unique_ptr<gz::math::v7::SpeedLimiterPrivate, std::default_delete<gz::math::v7::SpeedLimiterPrivate> >::operator->() const
#1    Object "/home/ren/play/robot/workspace/install/lib/libgz-math7.so.7", at 0x7f3eb0332531, in std::unique_ptr<gz::math::v7::SpeedLimiterPrivate, std::default_delete<gz::math::v7::SpeedLimiterPrivate> >::get() const
#0    Object "/home/ren/play/robot/workspace/install/lib/libgz-math7.so.7", at 0x7f3eb0332680, in std::__uniq_ptr_impl<gz::math::v7::SpeedLimiterPrivate, std::default_delete<gz::math::v7::SpeedLimiterPrivate> >::_M_ptr() const
Segmentation fault (Address not mapped to object [(nil)])

[iche033]

#2516