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I had the exactly the same problem. After one week of trying literally everything, this worked:

sudo apt-get update

sudo apt-get upgrade

There are incompatibilities between versions from different packages inside ros, so upgrading them to the last version solved the issue. Be sure to have the full version of ros:

sudo apt-get install ros-distribution-desktop-full

When I uninstalled Gazebo to later install the updated version, other packages (like ros-pkgs) where uninstalled without me noticing. So, the command above solved those gaps.

Let me know if it helped.