Cannot identify gazebo error

edit

I was trying to run a 3D simulation with a depth and point cloud camera and gazebo would not start. It just gave me the following error message:

[gazebo-2] process has died [pid 17326, exit code 139, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver --verbose -e ode worlds/empty_underwater.world __name:=gazebo __log:=/home/makinohara/.ros/log/317cf8d0-05d2-11eb-84f1-000c29b81a2f/gazebo-2.log].
log file: /home/makinohara/.ros/log/317cf8d0-05d2-11eb-84f1-000c29b81a2f/gazebo-2*.log

I tried to look for the log file but could not find it in the log folder. I am wondering how can I identify what's the cause for gazebo crashing.

Here is how I implemented the sensor

  <xacro:macro name="modified_camera_plugin_macro"
params="namespace suffix parent_link topic mass update_rate
  hfov width height stddev scale
  *inertia *origin">
<!-- Sensor link -->
<link name="${namespace}/camera${suffix}_link">
  <inertial>
    <xacro:insert_block name="inertia" />
    <mass value="${mass}" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </inertial>
  <visual>
    <geometry>
      <mesh filename="file://$(find uuv_sensor_ros_plugins)/meshes/oe14-372.dae" scale="${scale} ${scale} ${scale}"/>
    </geometry>
  </visual>
  <xacro:no_collision/>
</link>

<joint name="${namespace}/camera${suffix}_joint" type="revolute">
  <xacro:insert_block name="origin" />
  <parent link="${parent_link}" />
  <child link="${namespace}/camera${suffix}_link" />
  <limit upper="0" lower="0" effort="0" velocity="0" />
  <axis xyz="1 0 0"/>
</joint>

<link name="${namespace}/camera${suffix}_link_optical">
  <xacro:box_inertial x="0.0001" y="0.0001" z="0.0001" mass="0.001">
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </xacro:box_inertial>
  <collision>
    <!-- todo: gazebo needs a collision volume or it will ignore the pose of
       the joint that leads to this link (and assume it to be the identity) -->
    <geometry>
      <cylinder length="0.000001" radius="0.000001"/>
    </geometry>
    <origin xyz="0 0 0" rpy="0 ${0.5*pi} 0"/>
  </collision>
</link>

<joint name="${namespace}/camera${suffix}_optical_joint" type="revolute">
  <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
  <parent link="${namespace}/camera${suffix}_link"/>
  <child link="${namespace}/camera${suffix}_link_optical"/>
  <limit upper="0" lower="0" effort="0" velocity="0" />
  <axis xyz="1 0 0"/>
</joint>

<gazebo reference="${namespace}/camera${suffix}_link">
  <sensor type="camera" name="camera${suffix}">
    <update_rate>${update_rate}</update_rate>
    <camera name="camera${suffix}">
      <horizontal_fov>${hfov}</horizontal_fov>
      <image>
        <width>${width}</width>
        <height>${height}</height>
        <format>R8G8B8</format>
      </image>
      <clip>
        <near>0.05</near>
        <far>3000</far>
      </clip>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>${stddev}</stddev>
      </noise>
    </camera>
    <plugin name="camera${suffix}_controller" filename="libgazebo_ros_openni_kinect.so">
      <baseline>0.2</baseline>
      <alwaysOn>true</alwaysOn>

      <updateRate>${update_rate}</updateRate>
      <cameraName>${namespace}/camera${suffix}</cameraName>
      <frameName>camera${suffix}_link_optical</frameName>

      <attenuationR>0.0</attenuationR>
      <attenuationG>0.0</attenuationG>
      <attenuationB>0.0</attenuationB>

      <backgroundR>0</backgroundR>
      <backgroundG>0</backgroundG>
      <backgroundB>0</backgroundB>

      <pointCloudCutoff>0.5</pointCloudCutoff>
      <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
      <distortionK1>0</distortionK1>
      <distortionK2>0</distortionK2>
      <distortionK3>0</distortionK3>
      <distortionT1>0</distortionT1>
      <distortionT2>0</distortionT2>
      <CxPrime>0</CxPrime>
      <Cx>0</Cx>
      <Cy>0</Cy>
      <focalLength>0</focalLength> ...