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I have the same error on code with two cameras that used to work with no errors. I run roscore, and then gazebo world:

Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345

Msg Connected to gazebo master @ http://localhost:11345
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:137] Unable to connect to model database using [/]. Only locally installed models will be available.
Error [gazebo_ros_camera_utils.cpp:234] Not loading plugin since ROS hasn't been properly initialized.  Try starting gazebo with ros plugin:
  gazebo -s libgazebo_ros_api.so
Error [gazebo_ros_camera_utils.cpp:234] Not loading plugin since ROS hasn't been properly initialized.  Try starting gazebo with ros plugin:
  gazebo -s libgazebo_ros_api.so

gazebo -s libgazebo_ros_api.so
with no world file argument leads to

Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Error [Plugin.hh:126] Failed to load plugin libgazebo_ros_api.so: libgazebo_ros_api.so: cannot open shared object file: No such file or directory
Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345

Msg Connected to gazebo master @ http://localhost:11345
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:137] Unable to connect to model database using [/]. Only locally installed models will be available.

I have the same error on code with two cameras that used to work with no errors. I run roscore, and then gazebo world:

Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345

Msg Connected to gazebo master @ http://localhost:11345
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:137] Unable to connect to model database using [/]. Only locally installed models will be available.
Error [gazebo_ros_camera_utils.cpp:234] Not loading plugin since ROS hasn't been properly initialized.  Try starting gazebo with ros plugin:
  gazebo -s libgazebo_ros_api.so
Error [gazebo_ros_camera_utils.cpp:234] Not loading plugin since ROS hasn't been properly initialized.  Try starting gazebo with ros plugin:
  gazebo -s libgazebo_ros_api.so

Executing

gazebo -s libgazebo_ros_api.so
libgazebo_ros_api.so

with no world file argument leads to

Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Error [Plugin.hh:126] Failed to load plugin libgazebo_ros_api.so: libgazebo_ros_api.so: cannot open shared object file: No such file or directory
Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345

Msg Connected to gazebo master @ http://localhost:11345
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:137] Unable to connect to model database using [/]. Only locally installed models will be available.

I have the same error on code with two cameras that used to work with no errors. I run roscore, and then gazebo world:

Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345

Msg Connected to gazebo master @ http://localhost:11345
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:137] Unable to connect to model database using [/]. Only locally installed models will be available.
Error [gazebo_ros_camera_utils.cpp:234] Not loading plugin since ROS hasn't been properly initialized.  Try starting gazebo with ros plugin:
  gazebo -s libgazebo_ros_api.so
Error [gazebo_ros_camera_utils.cpp:234] Not loading plugin since ROS hasn't been properly initialized.  Try starting gazebo with ros plugin:
  gazebo -s libgazebo_ros_api.so

Executing

gazebo -s libgazebo_ros_api.so

with no world file argument leads to

Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Error [Plugin.hh:126] Failed to load plugin libgazebo_ros_api.so: libgazebo_ros_api.so: cannot open shared object file: No such file or directory
Gazebo multi-robot simulator, version 1.3.1
Copyright (C) 2012 Nate Koenig, John Hsu, and contributors.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Msg Waiting for master
Msg Connected to gazebo master @ http://localhost:11345

Msg Connected to gazebo master @ http://localhost:11345
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:93] GAZEBO_MODEL_DATABASE_URI not set
Warning [ModelDatabase.cc:137] Unable to connect to model database using [/]. Only locally installed models will be available.

roscore starts up with the following errors:

... logging to /home/cga/.ros/log/a6b2c846-60c6-11e2-9f20-0014225a80ab/roslaunch-cga2-2011.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cga2:57907/ ros_comm version 1.8.10

SUMMARY

PARAMETERS * /rosdistro * /rosversion

NODES

auto-starting new master Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored process[master]: started with pid [2027] ROS_MASTER_URI=http://cga2:11311/

setting /run_id to a6b2c846-60c6-11e2-9f20-0014225a80ab Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading'="" from="" '="" usr="" lib="" python2.7="" threading.pyc'=""> ignored process[rosout-1]: started with pid [2040] started core service [/rosout]