Gazebo ROS Fuerte crash and warnings [closed]

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Hi guys,

I do not know if I'm doing something wrong but it happens (one over four simulations as average) that when I start gazebo (using ROS fuerte) it crashes giving me the following error:

Service call failed: unable to connect to service: [Errno 104] 
Connection reset by peer Service call failed: unable to connect to service: [Errno 104]
Connection reset by peer Service call failed: unable to connect to service: [Errno 104]
Connection reset by peer Service call failed: transport
error completing service call: unable to receive data from sender, check sender's logs for details
Aborted (core dumped)
[gazebo-2] process has died [pid 11209, exit code 134, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo -u /home/marco/repositories/labrobROS/labrob_diffDrive3d/labrob_diffDrive3d_description/worlds/emptyFuerte.world __name:=gazebo __log:=/home/marco/.ros/log/26a9b9ea-276c-11e2-8f34-001d60c8d691/gazebo-2.log]. log file: /home/marco/.ros/log/26a9b9ea-276c-11e2-8f34-001d60c8d691/gazebo-2*.log

or another error is:

gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:418: T* boost::shared_ptr<t>::operator->() const [with T = gazebo::transport::Publisher]: Assertion `px != 0' failed.
Service call failed: transport error completing service call: unable to receive data from sender, check sender's logs for details Aborted (core dumped)
[gazebo-2] process has died [pid 14182, exit code 134, cmd /opt/ros/fuerte/stacks/simulator_gazebo/gazebo/scripts/gazebo -u /home/marco/repositories/labrobROS/labrob_diffDrive3d/labrob_diffDrive3d_description/worlds/emptyFuerte.world __name:=gazebo __log:=/home/marco/.ros/log/b537c8be-276c-11e2-ab21-001d60c8d691/gazebo-2.log]. log file: /home/marco/.ros/log/b537c8be-276c-11e2-ab21-001d60c8d691/gazebo-2*.log

I think this is a gazebo problem. I know that this problem is fixed in some releases of gazebo. How to update it to a newer version in ROS fuerte?

Does anyone have the same problem?

In addition, I have the following warning

Warning [parser.cc:348] Gazebo SDF has no gazebo element Warning [parser.cc:291] DEPRECATED GAZEBO MODEL FILE

I know that it is since the new gazebo wants sdf file instead of xacro format. The real point is I did not succeed to find how to build a sdf file from existing xacro model or scratch. Could anyone help me with some guides? My guideline is http://gazebosim.org/sdf/dev.html but it not so clear. Could anyone paste a simple example including controller?

Thanks in advance,

Neostek