I have this inside my xacro file

 <link name="base_scan">
        <origin xyz="0.0 0.0 0.0" rpy="0.0 1.57 0.0"/>
    </link>

    <joint name="right_artificial_scan" type="fixed">
        <parent link="right_lidar" />
        <child link="base_scan" />
        <origin xyz="0.0 0.0 0.0" rpy="0.0 1.57 0.0" />
    </joint>

    <gazebo reference="base_scan">
        <sensor name="laser" type="ray">
            <pose>0 0 0 0 0 0</pose>
            <visualize>true</visualize>
            <always_on>true</always_on>
            <update_rate>10</update_rate>
            <ray>
                <scan>
                    <horizontal>
                        <samples>720</samples>
                        <min_angle>-3.14</min_angle>
                        <max_angle>3.14</max_angle>
                    </horizontal>
                </scan>
                <range>
                    <min>0.3</min>
                    <max>12</max>
                    <resolution>0.015</resolution>
                </range>
                <noise>
                    <type>gaussian</type>
                    <mean>0.0</mean>
                    <stddev>0.01</stddev>
                </noise>
            </ray>
            <plugin name="scan" filename="libgazebo_ros_ray_sensor.so">
                <ros>
                    <remapping>~/out:=laser_scan</remapping>
                </ros>
                <output_type>sensor_msgs/LaserScan</output_type>
                <frame_name>base_scan</frame_name>
            </plugin>
        </sensor>
    </gazebo>
    ```

Sometimes, my gazebo able to run, but most of the time, it create this error that killing the gzserver, here is the output from my terminal

[gzclient-5] [Msg] Waiting for master.
[gzclient-5] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-5] [Msg] Publicized address: 192.168.88.207
[gzclient-5] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/clevero/.gazebo/models/gimbal_small_2d"
[gzclient-5] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/clevero/Jiva/loadscanner/install/jls_simulator/share/jls_simulator/../ament_index"
[gzclient-5] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/clevero/Jiva/loadscanner/install/jls_simulator/share/jls_simulator/../colcon-core"
[gzclient-5] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/clevero/Jiva/loadscanner/install/jls_simulator/share/jls_simulator/../jls_simulator"
[gzclient-5] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/share/gazebo-11/../../share/gazebo-11/models/gimbal_small_2d"
[gzclient-5] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/share/gazebo/../../share/gazebo-11/models/gimbal_small_2d"
[spawn_entity.py-6] [INFO] [1721311340.729193315] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [loadscanner]
[INFO] [spawn_entity.py-6]: process has finished cleanly [pid 64369]
[ERROR] [gzserver-4]: process has died [pid 64365, exit code -11, cmd 'gzserver --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[gzserver-4]

I also tried to change the ros->remapping tag to <argument> and here is the output

[gzclient-5] [Msg] Waiting for master.
[gzclient-5] [Msg] Connected to gazebo master @ http://127.0.0.1:11345
[gzclient-5] [Msg] Publicized address: 192.168.88.207
[gzclient-5] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/clevero/.gazebo/models/gimbal_small_2d"
[gzclient-5] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/clevero/Jiva/loadscanner/install/jls_simulator/share/jls_simulator/../ament_index"
[gzclient-5] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/clevero/Jiva/loadscanner/install/jls_simulator/share/jls_simulator/../colcon-core"
[gzclient-5] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/home/clevero/Jiva/loadscanner/install/jls_simulator/share/jls_simulator/../jls_simulator"
[gzclient-5] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/share/gazebo-11/../../share/gazebo-11/models/gimbal_small_2d"
[gzclient-5] [Err] [InsertModelWidget.cc:403] Missing model.config for model "/usr/share/gazebo/../../share/gazebo-11/models/gimbal_small_2d"
[gzserver-4] [WARN] [1721311547.658543195] [rcl]: Found remap rule '~/out:=laser_scan_speed'. This syntax is deprecated. Use '--ros-args --remap /out:=laser_scan_speed' instead.
[gzserver-4] [WARN] [1721311547.662246787] [rcl]: Found remap rule '/out:=laser_scan_speed'. This syntax is deprecated. Use '--ros-args --remap /out:=laser_scan_speed' instead.
[gzserver-4] [WARN] [1721311547.805066693] [rcl]: Found remap rule '/out:=laser_scan'. This syntax is deprecated. Use '--ros-args --remap /out:=laser_scan' instead.
[spawn_entity.py-6] [INFO] [1721311547.806337450] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [loadscanner]
[gzserver-4] [WARN] [1721311547.808507526] [rcl]: Found remap rule '/out:=laser_scan'. This syntax is deprecated. Use '--ros-args --remap ~/out:=laser_scan' instead.
[INFO] [spawn_entity.py-6]: process has finished cleanly [pid 66342]
[ERROR] [gzserver-4]: process has died [pid 66338, exit code -11, cmd 'gzserver --verbose -slibgazebo_ros_init.so -slibgazebo_ros_factory.so -slibgazebo_ros_force_system.so'].
[gzserver-4]
[gzclient-5] [Err] [Scene.cc:227] Service call[/shadow_caster_material_name] timed out
[gzclient-5] [Err] [Scene.cc:249] Service call[/shadow_caster_render_back_faces] timed out
[gzclient-5] [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[gzclient-5] [Wrn] [Scene.cc:463] Ignition transport [/scene_info] service call failed, falling back to gazebo transport [scene_info] request.
[gzclient-5] [Err] [TransportIface.cc:406] Unable to connect to master.
[gzclient-5] [Err] [GLWidget.cc:900] Unable to connect to a running Gazebo master.
[gzclient-5] [Wrn] [Publisher.cc:135] Queue limit reached for topic /gazebo/default/user_camera/pose, deleting message. This warning is printed only once.

Anyone please help me, it's been two days T_T