Crashed by calling the pure virtual method after deleting the model

[liyitao-code]

Environment

• OS Version: Ubuntu 24.04
• Source or binary build? Source build, use gz-sim9 version:d83d135 Built with gcc version 13.3.0 (Ubuntu 13.3.0-6ubuntu2~24.04) 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. remove the model named pendulum_with_base_mimic_fast_follows_slow

gz service --timeout 500 -s /world/default/remove --reptype gz.msgs.Boolean --reqtype gz.msgs.Entity --req 'id: 44
name: "pendulum_with_base_mimic_fast_follows_slow"
'

Output

pure virtual method called
terminate called without an active exception
Stack trace (most recent call last):
#31   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x731262cb7216, in rb_protect
#30   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x731262e5c2c9, in rb_yield
#29   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x731262e57b39, in rb_vm_exec
#28   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x731262e545db, in 
#27   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x731262e500fe, in 
#26   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x731262e4d8ef, in 
#25   Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x7312626a7b13, in 
#24   Object "/lib/x86_64-linux-gnu/libruby-3.2.so.3.2", at 0x731262e163bb, in rb_nogvl
#23   Object "/usr/lib/x86_64-linux-gnu/ruby/3.2.0/fiddle.so", at 0x7312626a743b, in 
#22   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x73126279a0bd, in ffi_call
#21   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7312627973ee, in 
#20   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x73126279ab15, in 
#19   Object "/home/liyitao/workspace/gz_lastest/install/lib/libgz-sim9-gz.so.9.0.0", at 0x73125ccaed03, in runServer
#18   Object "/home/liyitao/workspace/gz_lastest/install/lib/libgz-sim9.so.9", at 0x73125b728a64, in gz::sim::v9::Server::Run(bool, unsigned long, bool)
#17   Object "/home/liyitao/workspace/gz_lastest/install/lib/libgz-sim9.so.9", at 0x73125b7921da, in 
#16   Object "/home/liyitao/workspace/gz_lastest/install/lib/libgz-sim9.so.9", at 0x73125b7c2987, in gz::sim::v9::SimulationRunner::Run(unsigned long)
#15   Object "/home/liyitao/workspace/gz_lastest/install/lib/libgz-sim9.so.9", at 0x73125b7c3908, in gz::sim::v9::SimulationRunner::Step(gz::sim::v9::UpdateInfo const&)
#14   Object "/home/liyitao/workspace/gz_lastest/install/lib/libgz-sim9.so.9", at 0x73125b7bff44, in gz::sim::v9::SimulationRunner::UpdateSystems()
#13   Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x731221ef3853, in 
#12   Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x731221f12ad1, in 
#11   Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-sim-9/plugins/libgz-sim-physics-system.so", at 0x731221fc67c2, in 
#10   Object "/home/liyitao/workspace/gz_lastest/install/lib/gz-physics-8/engine-plugins/libgz-physics-bullet-featherstone-plugin.so", at 0x73121cd8d875, in 
#9    Object "/lib/x86_64-linux-gnu/libBulletDynamics.so.3.24", at 0x73121d91eadc, in btDiscreteDynamicsWorld::stepSimulation(float, int, float)
#8    Object "/lib/x86_64-linux-gnu/libBulletDynamics.so.3.24", at 0x73121d91e7e2, in btDiscreteDynamicsWorld::internalSingleStepSimulation(float)
#7    Object "/lib/x86_64-linux-gnu/libBulletDynamics.so.3.24", at 0x73121d93cc14, in btMultiBodyDynamicsWorld::calculateSimulationIslands()
#6    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x73125d8bbfc2, in __cxa_pure_virtual
#5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x73125d8a5a54, in std::terminate()
#4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x73125d8bb0d9, in 
#3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x73125d8a5ff4, in 
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7312628288fe, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x73126284527d, in gsignal
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x73126289eb2c, in pthread_kill
Aborted (Signal sent by tkill() 3693919 1000)