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I have this problem, too. In my case, I consider it as a laser problem.(because the process always die approximately after loading the laser.)

You may try this:

First, replace the <sensor> tag of hokuyo in rrbot.gazebo

<sensor type="gpu_ray" name="head_hokuyo_sensor">

with

<sensor type="ray" name="head_hokuyo_sensor">

Second, replace

<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">

with

<plugin name="hokuyo_node" filename="libgazebo_ros_laser.so">

So, after this process, the whole <gazebo> tag of hokuyo is:

<!-- hokuyo -->
<gazebo reference="hokuyo_link">
  <sensor type="ray" name="head_hokuyo_sensor">
    <pose>0 0 0 0 0 0</pose>
    <visualize>false</visualize>
    <update_rate>40</update_rate>
    <ray>
      <scan>
        <horizontal>
          <samples>720</samples>
          <resolution>1</resolution>
          <min_angle>-1.570796</min_angle>
          <max_angle>1.570796</max_angle>
        </horizontal>
      </scan>
      <range>
        <min>0.10</min>
        <max>30.0</max>
        <resolution>0.01</resolution>
      </range>
      <noise>
        <type>gaussian</type>
        <!-- Noise parameters based on published spec for Hokuyo laser
             achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and
             stddev of 0.01m will put 99.7% of samples within 0.03m of the true
             reading. -->
        <mean>0.0</mean>
        <stddev>0.01</stddev>
      </noise>
    </ray>
    <plugin name="hokuyo_node" filename="libgazebo_ros_laser.so">
      <topicName>/rrbot/laser/scan</topicName>
      <frameName>hokuyo_link</frameName>
    </plugin>
  </sensor>
</gazebo>

I use ros hydro, and this works for me.

Please feel free to suggest any better methods, thanks!