Gazebo crash when removing iCub in macOS Mojave with Gazebo 9.6.0

[traversaro]

Using 4e8404c or whenever I delete from the simulation an iCub model from either icub-gazebo or icub-models, gzserver crashes with the following error:

gzserver(11290,0x70000b248000) malloc: *** error for object 0x7fcda7cdff00: pointer being freed was not allocated
gzserver(11290,0x70000b248000) malloc: *** set a breakpoint in malloc_error_break to debug
Abort trap: 6

[traversaro]

Error another time:

gzserver(11328,0x700003ebb000) malloc: *** error for object 0x7f8731486660: pointer being freed was not allocated
gzserver(11328,0x700003ebb000) malloc: *** set a breakpoint in malloc_error_break to debug
gzclient(11329,0x10a98e5c0) malloc: Incorrect checksum for freed object 0x7fee8a77d240: probably modified after being freed.
Corrupt value: 0x746c7561666564
gzclient(11329,0x10a98e5c0) malloc: *** set a breakpoint in malloc_error_break to debug

[traversaro]

gzserver(11351,0x700003112000) malloc: *** error for object 0x7fbda36344e0: pointer being freed was not allocated
gzserver(11351,0x700003112000) malloc: *** set a breakpoint in malloc_error_break to debug

[traversaro]

Interestingly, this happens both when yarpserver is on, and even when the yarpserver is not up and so the plugin does not start correctly. Furthermore, the issue did not appear when removing the models in https://github.com/robotology/gazebo-yarp-plugins/tree/master/tutorial/model , so it could be related to a plugin that is not used in those models (for example, gazebo_yarp_forcetorque?).

[traversaro]

Possibly related issues:

• Inserting in Gazebo the new model iCubGazeboV2_5 directly from icub-models crashes the simulator #325
• Gazebo 8 crashes if a model containing a gazebo_yarp_controlboard plugin is removed  #282

[traversaro]

This could be related: #517 .

[traversaro]

I think this was probable due to #619, let's close and feel free to reopen if the problem occurs again.