Gazebo and urdf_spawner processes die

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On launching the Baxter simulator via roslaunch baxter_gazebo baxter_world.launch it crashes, with errors:

...
[ INFO] [1587846947.710919996]: getting bounds for joint: [left_s0]
[gazebo-2] process has died [pid 19786, exit code 139, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/elsa/bax_ws/src/baxter_simulator/baxter_gazebo/worlds/baxter.world __name:=gazebo __log:=/home/elsa/.ros/log/55b09986-8734-11ea-bd6a-305a3a7c519b/gazebo-2.log].
log file: /home/elsa/.ros/log/55b09986-8734-11ea-bd6a-305a3a7c519b/gazebo-2*.log
[INFO] [1587846948.520457, 0.177000]: Calling service /gazebo/set_model_configuration
Service call failed: unable to connect to service: [Errno 111] Connection refused
[ERROR] [1587846948.522809, 0.177000]: SetModelConfiguration service failed. Exiting.
[ INFO] [1587846948.588488532]: GazeboRosVideo (gzserver, ns = /) has started
[urdf_spawner-5] process has died [pid 19797, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -param robot_description -urdf -z 0.93 -model baxter -J baxter::right_s0 -0.272659 -J baxter::right_s1 1.04701 -J baxter::right_e0 -0.00123203 -J baxter::right_e1 0.49262 -J baxter::right_w0 -0.0806423 -J baxter::right_w1 -0.0620532 -J baxter::right_w2 0.0265941 -J baxter::left_s0 0.192483 -J baxter::left_s1 1.047 -J baxter::left_e0 0.000806359 -J baxter::left_e1 0.491094 -J baxter::left_w0 -0.178079 -J baxter::left_w1 -0.0610333 -J baxter::left_w2 -0.0124707 __name:=urdf_spawner __log:=/home/elsa/.ros/log/55b09986-8734-11ea-bd6a-305a3a7c519b/urdf_spawner-5.log].
log file: /home/elsa/.ros/log/55b09986-8734-11ea-bd6a-305a3a7c519b/urdf_spawner-5*.log
[WARN] [1587846975.396103, 0.177000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1587846975.468541, 0.177000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1587846975.469661, 0.177000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[WARN] [1587846975.470645, 0.177000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[robot/controller_spawner-9] process has finished cleanly

The entire text can be seen here on pastebin.

I am using Gazebo 9, have run ./baxter.sh sim, correctly set up my ./baxter.sh file, and followed all other directions at https://sdk.rethinkrobotics.com/wiki/.... Gazebo runs just fine on its own. Repeatedly trying "roslaunch baxter_gazebo baxter-world.launch" has succeeded twice, but I did not change anything in any way between runs, so I have no idea why.

I have the urdf_spawner-5 log here, and the master log here. The gazebo-2 log did not exist.

Please let me know if I have posted this in the wrong place - I am unsure if this is a gazebo or a ros issue.