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Same issue here. In my case, gzserver crashes with the following stack trace:

> #0  gazebo::sensors::Noise::Apply (this=0x0,
> _in=_in@entry=1.527150313825224) at /build/gazebo-nhSAPd/gazebo-7.0.0+dfsg/gazebo/sensors/Noise.cc:108                                                                                                                            
> #1  0x00007f1376924cf7 in gazebo::sensors::RaySensor::UpdateImpl
> (this=0x7f12e20f3e70) at
> /build/gazebo-nhSAPd/gazebo-7.0.0+dfsg/gazebo/sensors/RaySensor.cc:574
> 
> #2  0x00007f137692c984 in gazebo::sensors::Sensor::Update
> (this=0x7f12e20f3e70,
> _force=_force@entry=false) at /build/gazebo-nhSAPd/gazebo-7.0.0+dfsg/gazebo/sensors/Sensor.cc:250
> 
> #3  0x00007f1376933195 in gazebo::sensors::SensorManager::SensorContainer::Update
> (this=0x2e3d240, _force=<optimized
> out>) at
> /build/gazebo-nhSAPd/gazebo-7.0.0+dfsg/gazebo/sensors/SensorManager.cc:579
> 
> #4  0x00007f1376936d4b in gazebo::sensors::SensorManager::SensorContainer::RunLoop
> (this=0x2e3d240) at
> /build/gazebo-nhSAPd/gazebo-7.0.0+dfsg/gazebo/sensors/SensorManager.cc:534
> 
> #5  0x00007f13741805d5 in ?? () from /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0
> 
> #6  0x00007f13766956ba in start_thread (arg=0x7f12fe8ba700) at
> pthread_create.c:333                  
> 
> #7  0x00007f1376c9741d in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:109

After some digging into various sources, it turns out the type specification of <noise> block was causing the problem: in Gazebo's official documentation, its type property is spelled gaussian, not capitalized Gaussian as found in some tutorials. After making this change, I was able to run the simulated 2d sensor without a problem. Hope this will help you out.