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I have a custom plugin that is designed to drive a robot via protobuf messages.

When I place this robot into an empty world, it begins locking out gzclient - while gzserver keeps running fine.

The run of gzclient looks like this:

Starting program: /usr/bin/gzclient-2.2.2 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/i386-linux-gnu/libthread_db.so.1".
[New Thread 0xafbb8b40 (LWP 6831)]
Gazebo multi-robot simulator, version 2.2.2
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[New Thread 0xaefffb40 (LWP 6832)]
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.18.104.83
[New Thread 0xae5ffb40 (LWP 6833)]
[New Thread 0xabc96b40 (LWP 6834)]
[New Thread 0xab295b40 (LWP 6835)]
[New Thread 0xaa894b40 (LWP 6836)]
[New Thread 0xa9e93b40 (LWP 6837)]
[New Thread 0xa9492b40 (LWP 6838)]
[New Thread 0xa8a91b40 (LWP 6839)]
[New Thread 0xa8090b40 (LWP 6840)]
[New Thread 0xa788fb40 (LWP 6841)]
[New Thread 0xa6238b40 (LWP 6842)]
[New Thread 0xa58ffb40 (LWP 6843)]
[New Thread 0xa4de3b40 (LWP 6844)]
[New Thread 0xa41ffb40 (LWP 6845)]
[New Thread 0xa3ffeb40 (LWP 6846)]
[New Thread 0xa39feb40 (LWP 6848)]
[New Thread 0xa3bffb40 (LWP 6847)]
[New Thread 0xa35fcb40 (LWP 6849)]
[New Thread 0xa33fbb40 (LWP 6851)]
[New Thread 0xa37fdb40 (LWP 6850)]
[Thread 0xa6238b40 (LWP 6842) exited]
^C
Program received signal SIGINT, Interrupt.
0xb7fdd424 in __kernel_vsyscall ()

The CTRL-C comes after it has locked out for at least a minute.

The backtrace:

(gdb) bt
#0  0xb7fdd424 in __kernel_vsyscall ()
#1  0xb6a3084b in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/i386-linux-gnu/libpthread.so.0
#2  0xb7edeadc in wait (m=..., this=<optimized out>)
    at /usr/include/boost/thread/pthread/condition_variable.hpp:56
#3  gazebo::transport::request (_worldName=..., _request=..., _data=...)
    at /tmp/buildd/gazebo-current-2.2.2/gazebo/transport/TransportIface.cc:203
#4  0x0810a376 in gazebo::gui::JointControlWidget::SetModelName (this=0x8b39c70, _modelName=...)
    at /tmp/buildd/gazebo-current-2.2.2/gazebo/gui/JointControlWidget.cc:256
#5  0x08161ea6 in gazebo::gui::ToolsWidget::OnSetSelectedEntity (this=0x8b397c0, _name=...)
    at /tmp/buildd/gazebo-current-2.2.2/gazebo/gui/ToolsWidget.cc:76
#6  0x08162500 in operator() (a2=..., a1=..., p=<optimized out>, this=0x8b51024)
    at /usr/include/boost/bind/mem_fn_template.hpp:280
#7  operator()<boost::_mfi::mf2<void, gazebo::gui::ToolsWidget, const std::basic_string<char>&, const std::basic_string<char>&>, boost::_bi::list2<std::basic_string<char>&, std::basic_string<char>&> > (
    a=<synthetic pointer>, f=..., this=0x8b5102c) at /usr/include/boost/bind/bind.hpp:392
#8  operator()<std::basic_string<char>, std::basic_string<char> > (a2=..., a1=..., this=0x8b51024)
    at /usr/include/boost/bind/bind_template.hpp:61
#9  boost::detail::function::void_function_obj_invoker2<boost::_bi::bind_t<void, boost::_mfi::mf2<void, gazebo::gui::ToolsWidget, std::string const&, std::string const&>, boost::_bi::list3<boost::_bi::value<gazebo::gui::ToolsWidget*>, boost::arg<1>, boost::arg<2> > >, void, std::string, std::string>::invoke (function_obj_ptr=..., a0=..., a1=...) at /usr/include/boost/function/function_template.hpp:153
#10 0x080f450e in operator() (a1=..., a0=..., this=0x8b51020)
    at /usr/include/boost/function/function_template.hpp:760
#11 gazebo::event::EventT<void (std::string, std::string)>::Signal<std::string, char [7 ...

I feel like I've missed something fundamental as my robot totally shatters when I place it into the world. It also could just be late. =)

I'm using Gazebo 2.1 and SDF 1.4. My sdf is pasted below.

Any help would be greatly appreciated.

SDF:

<?xml version='1.0'?>
<sdf version='1.4'>
  <model name="mark000">
  <static>false</static>
  <pose>0 0 0.105 0 0 0</pose>
  <link name='chassis'>
      <collision name='collision'>
        <pose>0 0.205 0.074 0 0 0</pose>
        <geometry>
          <box>
            <size>0.3075 0.655 0.206</size>
          </box>
        </geometry>
      </collision>

      <visual name="chassis-visual">
          <geometry>
            <mesh>
              <scale>0.001 0.001 0.001</scale>
              <uri>file://chassis.stl</uri>
            </mesh>
          </geometry>
      </visual>
  </link>

  <link name="caster_bracket">
    <collision name='collision'>
      <pose>-0.115 0.483 0.03022 0 0 0</pose>
      <geometry>
        <cylinder>
          <radius>0.06</radius>
          <length>0.1426</length>
        </cylinder>
      </geometry>
      <surface>
        <contact>
          <collide_without_contact>1</collide_without_contact>
        </contact>
      </surface>
    </collision>
    <visual name="visual">
      <geometry>
        <mesh>
          <scale>0.001 0.001 0.001</scale>
          <uri>file://caster-brkt.stl</uri>
        </mesh>
      </geometry>
    </visual>  
  </link>

  <link name="caster_wheel">
    <collision name='collision'>
        <pose>-0.115 0.458 -0.04448 0 1.5707 0</pose>
        <geometry>
          <cylinder>
          <radius>.061</radius>
          <length>.061</length>
         </cylinder>
      </geometry>

      <surface>
        <friction>
          <ode>
            <mu>0</mu>
            <mu2>0</mu2>
            <slip1>1.0</slip1>
            <slip2>1.0</slip2>
          </ode>
        </friction>
      </surface>
    </collision> 

    <visual name="visual">
          <geometry>
            <mesh>
              <scale>0.001 0.001 0.001</scale>
              <uri>file://caster-wheel.stl</uri>
            </mesh>
          </geometry>
    </visual>
  </link>



  <link name="left_wheel">
    <collision name="collision">
      <pose>-0.182 0 0 0 1.5707 0</pose>
      <geometry>
        <cylinder>
          <radius>.105</radius>
          <length>.04</length>
        </cylinder>
      </geometry>
      <surface>
        <friction>
          <ode>
            <mu>1</mu>
            <mu2>0</mu2>
            <slip1>1.0</slip1>
            <slip2>1.0</slip2>
          </ode>
        </friction>
      </surface>
    </collision>
    <visual name="visual">
      <pose>0 0 0 0 0 3.14157</pose>
          <geometry>
            <mesh>
              <scale>0.001 0.001 0.001</scale>
              <uri>file://wheel-rear.stl</uri>
            </mesh>
          </geometry>
        </visual>  
  </link>

  <link name="right_wheel">
    <collision name="collision">
      <pose>0.182 0 0 0 1.5707 0</pose>
      <geometry>
        <cylinder>
          <radius>.105</radius>
          <length>.04</length>
        </cylinder>
      </geometry>
      <surface>
        <friction>
          <ode>
            <mu>1</mu>
            <mu2>0</mu2>
            <slip1>1.0</slip1>
            <slip2>1.0</slip2>
          </ode>
        </friction>
      </surface>
    </collision>
   <visual name="visual">
          <geometry>
            <mesh>
              <scale>0.001 0.001 0.001</scale>
              <uri>file://wheel-rear.stl</uri>
            </mesh>
          </geometry>
        </visual>  
  </link>

  <joint type="revolute" name="left_wheel_hinge">
    <pose>-0.182 0 0 0 1.5707 0</pose>
    <child>left_wheel</child>
    <parent>chassis</parent>
    <axis>
      <xyz>0 0 1</xyz>
    </axis>
  </joint>

  <joint type="revolute" name="right_wheel_hinge">
    <pose>0.182 0 0 0 1.5707 0</pose>
    <child>right_wheel</child>
    <parent>chassis</parent>
    <axis>
      <xyz>0 0 1</xyz>
    </axis>
  </joint>

    <joint type="revolute" name="caster_rotation_vertical">
    <pose>-0.115 0.483 0.03022 0 0 0</pose>
    <child>caster_bracket</child>
    <parent>chassis</parent>
    <axis>
      <xyz>0 0 1</xyz>
    </axis>
  </joint>

  <joint type="revolute" name="caster_rotation_horizontal">
   <pose>-0.115 0.458 -0.04448 0 ...