Controllers in Fetch Gazebo Melodic don't start correctly several times before the robot gets in a usable state

[ana-GT]

We have been using the Fetch Gazebo model in a Ubuntu 18.04 machine with ROS Melodic on it (Gazebo 9). We notice that when we spawn the robot in Gazebo, it takes several tries before the robot starts properly (controller kicked in, arm in a collision-free pose). More often than not, 90% of the times, the controllers don't start at all and the arm falls all the way through the robot base, getting in a stuck pose

We eventually get the robot to load properly and use it in Gazebo, but this controllers-not-starting initial situation takes up too much time. Is this a normal occurrence or are there any ideas of why this might be happening?

[Juzhan]

I meat the same issue also in a Ubuntu 18.04 machine with ROS Melodic on Gazebo 9, did you solve the problem?