[gazebo-1]; process has died [pid 3631, exit code 139

edit

After running my launch file I got this error: gazebo has problem

INFO] [1690533387.960548, 0.695000]: Controller Spawner: Loaded controllers: joint_state_controller, robot_arm_controller, hand_ee_controller Segmentation fault (core dumped)

[gazebo-1] process has died [pid 3631, exit code 139, cmd /opt/ros/noetic/lib/gazebo_ros/gzserver -e ode worlds/empty.world __name:=gazebo __log:=/home/jainvrushab5/.ros/log/a73a9b62-2d21-11ee-b79a-1b66b09d8dc9/gazebo-1.log].
log file: /home/jainvrushab5/.ros/log/a73a9b62-2d21-11ee-b79a-1b66b09d8dc9/gazebo-1*.log

WARN] [1690533389.220244, 0.699000]: Controller Spawner error while taking down controllers: unable to connect to service: [Errno 111] Connection refused
[controller_spawner-5] process has died [pid 3643, exit code 1, cmd /opt/ros/noetic/lib/controller_manager/spawner joint_state_controller robot_arm_controller hand_ee_controller __name:=controller_spawner __log:=/home/jainvrushab5/.ros/log/a73a9b62-2d21-11ee-b79a-1b66b09d8dc9/controller_spawner-5.log].
log file: /home/jainvrushab5/.ros/log/a73a9b62-2d21-11ee-b79a-1b66b09d8dc9/controller_spawner-5*.log

My launch File : <launch> <arg name="arg_x" default="0.00"/> <arg name="arg_y" default="0.00"/> <arg name="arg_z" default="0.00"/> <arg name="arg_R" default="0.00"/> <arg name="arg_P" default="0.00"/> <arg name="arg_Y" default="0.00"/>

<!--Urdf file path-->
<param name="robot_description" textfile="$(find ur5_arm)/urdf/ur5_gazebo.urdf"/>

<!--spawn a empty gazebo world-->
<include file="$(find gazebo_ros)/launch/empty_world.launch" />
<node name="tf_footprint_base" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 base_link base_footprint 40" />

<!--spawn model-->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-x $(arg arg_x) -y $(arg arg_y) -z $(arg arg_z) -Y $(arg arg_Y) -param robot_description -urdf -model ur5" />

<!--Load and launch the joint trajectory controller-->
<rosparam file ="$(find ur5_arm)/config/joint_trajectory_controller.yaml" command="load"/>

<node name= "controller_spawner" pkg= "controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller robot_arm_controller hand_ee_controller"/>
<!-- Robot State Publisher for TF of each joint: publishes all the current states of the joint, then RViz can visualize -->

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>

</launch>

Ubuntu 20.04 ROS Noetic Gazebo multi-robot simulator, version 11.11.0