Spawn service failed when starting the Gazebo environment

[helenzhangyc]

I'm running the SLAM demo on ROS1 noetic inside a docker environment. Compiling and the walking demo were working fine. However, when I run Gazebo for the SLAM demo (command was roslaunch champ_config gazebo.launch), I got the following error:

[ERROR] [1758691687.660207, 0.000000]: Spawn service failed. Exiting.
[urdf_spawner-11] process has died [pid 22314, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model / -param robot_description -robot_namespace / -x 0.0 -y 0.0 -z 0.6 -Y 0.0 __name:=urdf_spawner __log:=/root/.ros/log/3fcad47a-9907-11f0-b2e5-a40c6617580f/urdf_spawner-11.log].
log file: /root/.ros/log/3fcad47a-9907-11f0-b2e5-a40c6617580f/urdf_spawner-11*.log

The log file is shown below:

[INFO] [1758691687.043655, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1758691687.047322, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1758691687.654156, 0.000000]: Calling service /gazebo/spawn_urdf_model
Service call failed: unable to connect to service: connection from sender terminated before handshake header received. 0 bytes were received. Please check sender for additional details.

The entire terminal output is attached in the below txt file.
tmp.txt

Did someone else encounter this error before and know how to solve it?