Lockstep argument cause segmentation fault when dynamic spawn a model with sensor plugin.

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I write a sensor plugin and assemble it a robot that needs to be dynamically loaded to the gazebo environment. I found when spawn first model with this plugin, it works fine. However, once the second model is spawned, it will report a segmentation fault error.

when I disable the lockstep option, the "segmentation fault " error disappears.

So, how to fixes this "segmentation fault " with lockstep option?

gazebo version: 9.16, ubuntu 18.04