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Try the using the non-GPU version of the laser. Change the line <sensor type="gpu_ray" name="head_hokuyo_sensor"> to <sensor type="ray" name="head_hokuyo_sensor"> and replace <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so"> with <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">