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This could be the same problem as in

http://answers.ros.org/question/39869/rosservice-call-gazebo-get_link_properties-fails-responded-with-an-error-or-crashes-gzserver/

In that case, you could try to recompile with the patch pointed to there, or alternatively try to work around the problem by using the link_states topic. This won't give you a joint angle, but you could get that from the link pose.