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I have created a ray sensor in my Gazebo SDF file. This sensor includes the following plugin defined:

    <plugin name="aft_stbd_plugin" filename="libgazebo_ros_ray_sensor.so">
      <ros>
        <!-- Configure namespace and remap to publish to /ray/range -->
        <namespace>/ray</namespace> 
        <remapping>~/out:=range</remapping>
      </ros>

      <output_type>sensor_msgs/Range</output_type>
      <radiation_type>ultrasound</radiation_type>
    </plugin>

In my ROS2 node c++ file, i use the following to subscribe to the /ray/range topic:

ray_sub = this->create_subscription<sensor_msgs::msg::range>( "ray/range", 1, std::bind(&DVL::setRayData, this, std::placeholders::_1));

I put a simple print statement in the setRayData() function. When I run my test world with the ray sensor model and my ROS2 node, it never makes it to the setRayData() function.

In a terminal: ros2 topic list has /ray/range included ros2 topic echo /ray/range shows the data and it is updating at the appropriate rate

Am I missing something unique that may be needed in the node when using the gazebo_ros sensor plugins available?

FYI: ROS2 Foxy, Gazebo 11

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