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Well I figured out what caused it. The urdf file was using a hokuyo laser, which in turns uses the GPU to do calculations. Disabling the GPU usage fixed the segfault.

Disable it by changing

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

and

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

To

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

and

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