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We encountered the same problem, i.e. Gazebo exploding just right after initializing with the reported error
gzserver: /tmp/buildd/ros-fuerte-visualization-common-1.8.4/debian/ros-fuerte-visualization-common/opt/ros/fuerte/stacks/visualization_common/ogre/build/ogre_src_v1-7-3/OgreMain/src/OgreNode.cpp:413: virtual void Ogre::Node::setPosition(const Ogre::Vector3&): Assertion `!pos.isNaN() && "Invalid vector supplied as parameter"' failed.
The crash appeared when including the stereo camera in the URDF of the REEM humanoid (https://github.com/pal-robotics) in Fuerte. The solution in our case was to increase the inertia matrix of the link in which the camera is mounted on.
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