Hi. Sorry for all mistakes, English is not my native language. I managed to load in gazebo my map and robot model, but after it is loaded I receive following error:

[INFO] [ros2-5]: process started with pid [2622] [gzserver-1] Segmentation fault (core dumped) [ERROR] [gzserver-1]: process has died [pid 2483, exit code 139, cmd 'gzserver /home/mikita/ros2ws/install/minicarsimulator/share/minicarsimulator/worlds/testwalls.world -s libgazeborosinit.so -s libgazeborosfactory.so -s libgazeborosforcesystem.so ']. [ros2-5] Could not contact service /controllermanager/loadcontroller [ERROR] [ros2-5]: process has died [pid 2622, exit code 1, cmd 'ros2 control loadcontroller --set-state start jointstatebroadcaster']. [INFO] [ros2-6]: process started with pid [2656] [ros2-6] Could not contact service /controllermanager/loadcontroller [ERROR] [ros2-6]: process has died [pid 2656, exit code 1, cmd 'ros2 control loadcontroller --set-state start minicarcontroller']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [robotstatepublisher-3] [INFO] [1669312321.033221398] [rclcpp]: signalhandler(signalvalue=2) [INFO] [robotstatepublisher-3]: process has finished cleanly [pid 2488] [ERROR] [gzclient -2]: process has died [pid 2485, exit code -2, cmd 'gzclient '].

Gazebo window is still working but drop down list Model from World tab is not working. Appreciate any help

UPD. Adding launch file, that I use

import os

from ament_index_python.packages import get_package_share_directory


from launch import LaunchDescription
from launch.actions import ExecuteProcess, IncludeLaunchDescription, RegisterEventHandler
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch_ros.actions import Node

import xacro


def generate_launch_description():

    package_dir = os.path.join(get_package_share_directory('minicar_simulator'))
    xacro_file = os.path.join(package_dir, 'urdf', 'minicar.gazebo.xacro')
    world_files = os.path.join(package_dir,'worlds','test_walls.world')

    gazebo = IncludeLaunchDescription(
                PythonLaunchDescriptionSource([os.path.join(
                    get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']),launch_arguments={'world': world_files}.items()
    )

    doc = xacro.parse(open(xacro_file))
    xacro.process_doc(doc)
    params = {'robot_description': doc.toxml()}

    node_robot_state_publisher = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        output='screen',
        parameters=[params]
    )

    spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
                        arguments=['-topic', 'robot_description',
                                '-x', '-3.0',
                                '-y', '-1.5',
                                '-z', '2.719',
                                '-entity', 'minicar'],
                        output='screen')

    load_joint_state_controller = ExecuteProcess(
        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
            'joint_state_broadcaster'],
        output='screen'
    )

    load_joint_trajectory_controller = ExecuteProcess(
        cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
            'minicar_controller'],
        output='screen'
    )

    return LaunchDescription([
        RegisterEventHandler(
            event_handler=OnProcessExit(
                target_action=spawn_entity,
                on_exit=[load_joint_state_controller],
            )
        ),
        RegisterEventHandler(
            event_handler=OnProcessExit(
                target_action=load_joint_state_controller,
                on_exit=[load_joint_trajectory_controller],
            )
        ),
        gazebo,
        node_robot_state_publisher,
        spawn_entity
    ])