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Could you check this page ( http://answers.ros.org/question/65402/gazebo-fail-to-connect-to-master-in-30-seconds-it-does-not-run-from-the-very-first-time/ )? Probably this answer solves your problem. Because Error message says Failed to connect to master in 30 seconds. Your problem has a relationship with gzclient and gzserver. I think so.