Gazebo aborts with boost::lock_error when adding a model with a GPU ray sensor

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I tried to add a GPU ray sensor to our Hector robot model using ROS hydro and Gazebo 1.8.6 from the ROS package repositories.

This is the SDF description of the sensor:

<sensor name="laser1" type="gpu_ray">
  <always_on>true</always_on>
  <update_rate>40</update_rate>
  <pose>0 0 0 0 0 0</pose>
  <visualize>false</visualize>
  <ray>
    <scan>
      <horizontal>
        <samples>1081</samples>
        <resolution>1</resolution>
        <min_angle>135</min_angle>
        <max_angle>-135</max_angle>
      </horizontal>
    </scan>
    <range>
      <min>0.08</min>
      <max>30.0</max>
      <resolution>0.01</resolution>
    </range>
  </ray>
  <plugin filename="libgazebo_ros_gpu_laser.so" name="gazebo_ros_laser1_controller">
    <gaussianNoise>0.005</gaussianNoise>
    <alwaysOn>true</alwaysOn>
    <updateRate>40</updateRate>
    <topicName>laser1/scan</topicName>
    <frameName>laser1_frame</frameName>
  </plugin>
</sensor>

When the model is loaded, gazebo crashes with the following error message:

gzserver: /usr/include/boost/thread/pthread/mutex.hpp:61: void boost::mutex::unlock(): Assertion `!pthread_mutex_unlock(&m)' failed.
Aborted (core dumped)

I also tried to add the sensor without the plugin and even without the parameters, but this does not help either. I then compiled gazebo (branch default) and gazebo_ros_pkgs (branch hydro-devel) from source with debug information to be able to create a stack trace. The lock_error seems to happen somewhere in the callback queue of the gazebo_ros_api_plugin:

#0  0x00007f94e6066425 in __GI_raise (sig=<optimized out>) at ../nptl/sysdeps/unix/sysv/linux/raise.c:64
#1  0x00007f94e6069b8b in __GI_abort () at abort.c:91
#2  0x00007f94e66bc69d in __gnu_cxx::__verbose_terminate_handler() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#3  0x00007f94e66ba846 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#4  0x00007f94e66ba873 in std::terminate() () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#5  0x00007f94e66ba96e in __cxa_throw () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#6  0x0000000000475c7a in boost::throw_exception<boost::lock_error> (e=...) at /usr/include/boost/throw_exception.hpp:61
#7  0x00007f94d14c4538 in ros::CallbackQueue::callAvailable(ros::WallDuration) () from /opt/ros/hydro/lib/libroscpp.so
#8  0x00007f94d1931e33 in gazebo::GazeboRosApiPlugin::gazeboQueueThread (this=0x268bce0) at /home/meyer/ros/hydro/gazebo/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros_api_plugin.cpp:205
#9  0x00007f94d19a5c80 in boost::_mfi::mf0<void, gazebo::GazeboRosApiPlugin>::operator() (this=0x27c4328, p=0x268bce0) at /usr/include/boost/bind/mem_fn_template.hpp:49
#10 0x00007f94d19a3708 in boost::_bi::list1<boost::_bi::value<gazebo::GazeboRosApiPlugin*> >::operator()<boost::_mfi::mf0<void, gazebo::GazeboRosApiPlugin>, boost::_bi::list0> (this=0x27c4338, f=..., a=...)
    at /usr/include/boost/bind/bind.hpp:253
#11 0x00007f94d1998d89 in boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::GazeboRosApiPlugin>, boost::_bi::list1<boost::_bi::value<gazebo::GazeboRosApiPlugin*> > >::operator() (this=0x27c4328)
    at /usr/include/boost/bind/bind_template.hpp:20
#12 0x00007f94d19bf3ba in boost::detail::thread_data<boost::_bi::bind_t<void, boost::_mfi::mf0<void, gazebo::GazeboRosApiPlugin>, boost::_bi::list1<boost::_bi::value<gazebo::GazeboRosApiPlugin*> > > >::run (this=0x27c41a0)
    at /usr/include/boost/thread/detail/thread.hpp:61
#13 0x00007f94e6d7ace9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#14 0x00007f94e7909e9a in start_thread (arg=0x7f94a7fff700) at pthread_create.c:308
#15 0x00007f94e6123ccd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:112
#16 0x0000000000000000 in ?? ()

I am not sure how this is related to the gpu_ray sensor, but with a standard ray ... (more)