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I also faced this issue recently. In my case, I was trying to load an SDF generated for Ignition Gazebo in Gazebo Classic. The SDF contained some plugins, and as the plugins were built for Ignition Gazebo, they pulled in different versions of ign-msgs and sdformat than Gazebo Classic uses. This mismatch then lead to the mentioned error and a segfault. To fix it, it's enough to remove the incompatible plugins from the SDF. I assume the same would happen if you'd load a Gazebo Classic SDF in Ignition Gazebo.
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