Error opening gazebo sim when built from source

[siddarth09]

Description

When i tried to run gazebo simulation, it crashes after a while. This happens only after building from source

Setup method

Source build

OS

Ubuntu 24.04

System specs

CPU: 24-core Intel Core Ultra 9 275HX (-MCP-)
speed/min/max: 909/800/5400:5300:4700:6500 MHz Kernel: 6.17.0-1012-oem x86_64
Up: 1d 9h 34m Mem: 9.04/30.8 GiB (29.3%) Storage: 1.84 TiB (14.3% used)
Procs: 495 Shell: Bash inxi: 3.3.34

nvidia-smi
Sat Mar 21 19:09:19 2026
+-----------------------------------------------------------------------------------------+
| NVIDIA-SMI 580.126.20 Driver Version: 580.126.20 CUDA Version: 13.0 |
+-----------------------------------------+------------------------+----------------------+
| GPU Name Persistence-M | Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap | Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|=========================================+========================+======================|
| 0 NVIDIA GeForce RTX 5060 ... On | 00000000:01:00.0 Off | N/A |
| N/A 31C P4 9W / 45W | 15MiB / 8151MiB | 0% Default |
| | | N/A |
+-----------------------------------------+------------------------+----------------------+

+-----------------------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=========================================================================================|
| 0 N/A N/A 3694 G /usr/lib/xorg/Xorg 4MiB |
+-----------------------------------------------------------------------------------------+

Steps to reproduce

Built from source, following build_eval.md readme file, and ran the Gazebo launch after running Zenoh

Relevant log output

[create-5] [INFO] [1774134261.053268615] [ros_gz_sim]: Requesting list of world names.
[aic_adapter-2] [INFO] [1774134261.150257245] [aic_adapter_node]: Adapter node initialization complete.
[aic_engine-6] [INFO] [1774134261.151187073] [aic_engine]: Creating AIC Engine...
[aic_engine-6] [INFO] [1774134261.151480560] [aic_engine]: Scoring output directory set to: /home/sid/aic_results
[aic_engine-6] [INFO] [1774134261.151588096] [aic_engine]: ╔════════════════════════════════════════╗
[aic_engine-6] [INFO] [1774134261.151602034] [aic_engine]: ║   Initializing AIC Engine...           ║
[aic_engine-6] [INFO] [1774134261.151608715] [aic_engine]: ╚════════════════════════════════════════╝
[component_container-3] [INFO] [1774134261.160706323] [ros_gz_container]: Load Library: /home/sid/ws_aic/install/lib/libgzserver_component.so
[aic_engine-6] [INFO] [1774134261.167893697] [aic_engine]: Successfully parsed trial 'trial_1'
[aic_engine-6] [INFO] [1774134261.167992301] [aic_engine]: Successfully parsed trial 'trial_2'
[aic_engine-6] [INFO] [1774134261.168051910] [aic_engine]: Successfully parsed trial 'trial_3'
[aic_engine-6] [INFO] [1774134261.168059993] [aic_engine]: Successfully parsed 3 trial(s)
[aic_engine-6] [INFO] [1774134261.168076591] [aic_engine]: Waiting for clock
[robot_state_publisher-1] [INFO] [1774134261.233499262] [robot_state_publisher]: Robot initialized
[component_container-3] [INFO] [1774134261.924812378] [ros_gz_container]: Found class: rclcpp_components::NodeFactoryTemplate<ros_gz_sim::GzServer>
[component_container-3] [INFO] [1774134261.924930104] [ros_gz_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros_gz_sim::GzServer>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/gz_server' in container '/ros_gz_container'
[component_container-3] [INFO] [1774134261.930912909] [ros_gz_container]: Load Library: /home/sid/ws_aic/install/lib/libros_gz_bridge.so
[component_container-3] [INFO] [1774134262.566035248] [ros_gz_container]: Found class: rclcpp_components::NodeFactoryTemplate<ros_gz_bridge::RosGzBridge>
[component_container-3] [INFO] [1774134262.566165366] [ros_gz_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ros_gz_bridge::RosGzBridge>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/ros_gz_bridge' in container 'ros_gz_container'
[create-5] [INFO] [1774134266.053917521] [ros_gz_sim]: Requesting list of world names.
[ERROR] [component_container-3]: process has died [pid 102212, exit code -11, cmd '/opt/ros/kilted/lib/rclcpp_components/component_container --ros-args -r __node:=ros_gz_container -r __ns:=/'].
[create-5] [INFO] [1774134271.054363144] [ros_gz_sim]: Requesting list of world names.
[aic_engine-6] [ERROR] [1774134271.168374609] [aic_engine]: Failed to find a valid clock
[aic_engine-6] [ERROR] [1774134271.168548403] [aic_engine]: Engine failed to initialise
[ERROR] [aic_engine-6]: process has died [pid 102215, exit code 1, cmd '/home/sid/ws_aic/install/lib/aic_engine/aic_engine --ros-args --params-file /tmp/launch_params__sp2skdv'].
[create-5] [INFO] [1774134276.054803633] [ros_gz_sim]: Requesting list of world names.

Additional context

No response

[Yadunund]

@siddarth09 could you confirm if you purged all existing ROS kilted and Gazebo binaries on your machine as documented in https://github.com/intrinsic-dev/aic/blob/main/docs/build_eval.md#setup-instructions?
The crash is likely caused by a binary mismatch between your source-built libraries and the system-installed binaries.

[siddarth09]

Yes, I have removed all the binaries, just as it was mentioned in the build_eval.md.