Crash after removing model with FollowActor plugin

[gzfuzz]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build?
  source build
  gz-sim version: f600a44
  built with
  gcc version: 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04)
  build options: -DCMAKE_BUILD_TYPE=Coverage
  also reproduced on binary build with version 8.6.0

Description

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

Steps to reproduce

1. gz sim gz-sim/examples/worlds/follow_actor.sdf -r
2. call /world/actors/remove service, with

gz service --timeout 10000 -s /world/actors/remove --reptype gz.msgs.Boolean --reqtype gz.msgs.Entity --req 'id: 12
name: "green_box"'

removing model with FollowActor plugin like the green box from GUI works as well.

Output

Stack trace (most recent call last):
#23   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in 
#22   Object "gz sim /tmp/exp/e_214/a.sdf --seed 1725201111 -v 0 -r -s --headless-rendering", at 0x56232226f1c4, in _start
#21   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff1a7afde3f, in __libc_start_main
#20   Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff1a7afdd8f, in 
#19   Object "gz sim /tmp/exp/e_214/a.sdf --seed 1725201111 -v 0 -r -s --headless-rendering", at 0x56232226f17e, in 
#18   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7ff1a7da5e19, in ruby_run_node
#17   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7ff1a7da2317, in 
#16   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7ff1a7f3733c, in rb_vm_exec
#15   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7ff1a7f31cc6, in 
#14   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7ff1a7f2eff5, in 
#13   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7ff1a7f2cc64, in 
#12   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7ff1a3ada44b, in 
#11   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7ff1a7efa0b8, in rb_nogvl
#10   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7ff1a3ad9d6b, in 
#9    Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7ff1a3acb492, in 
#8    Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7ff1a3acee2d, in 
#7    Object "/data/play/robot/workspace/install/lib/libgz-sim8-gz.so.8.6.0", at 0x7ff1a2e22d7d, in runServer
#6    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7ff1a14a0692, in gz::sim::v8::Server::Run(bool, unsigned long, bool)
#5    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7ff1a14cc107, in 
#4    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7ff1a14fcab4, in gz::sim::v8::SimulationRunner::Run(unsigned long)
#3    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7ff1a14fd8d2, in gz::sim::v8::SimulationRunner::Step(gz::sim::v8::UpdateInfo const&)
#2    Object "/home/ren/play/robot/workspace/install/lib/libgz-sim8.so.8", at 0x7ff1a14f9aa8, in gz::sim::v8::SimulationRunner::UpdateSystems()
#1    Object "/data/play/robot/workspace/install/lib/gz-sim-8/plugins/libgz-sim-follow-actor-system.so", at 0x7ff164b39222, in gz::sim::v8::systems::FollowActor::PreUpdate(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager&)
#0    Object "/data/play/robot/workspace/install/lib/libgz-sim8-gz.so.8.6.0", at 0x7ff1a2e4ef9b, in gz::math::v7::Pose3<double>::Pose3(gz::math::v7::Pose3<double> const&)
Segmentation fault (Address not mapped to object [0x8])

[arjo129]

Thanks for reporting this @zhileiren. I've got a fix in.