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Please read whole tutorial, scroll down to bottom. You need to add the plugin in the URDF it is not an automatic process.

You are missing these things in your URDF

<gazebo reference="base_ir_front">        
   <sensor type="ray" name="TeraRanger">
      <pose>0 0 0 0 0 0</pose>
      <visualize>true</visualize>
      <update_rate>50</update_rate>
      <ray>
         <scan>
            <horizontal>
               <samples>10</samples>
               <resolution>1</resolution> 
               <min_angle>-0.14835</min_angle>
               <max_angle>0.14835</max_angle>
            </horizontal>
            <vertical>
               <samples>10</samples>
               <resolution>1</resolution> 
               <min_angle>-0.14835</min_angle>
               <max_angle>0.14835</max_angle> 
            </vertical>
         </scan>
         <range>
            <min>0.01</min>
            <max>2</max>
            <resolution>0.02</resolution>
         </range>
      </ray>
      <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
         <gaussianNoise>0.005</gaussianNoise>
         <alwaysOn>true</alwaysOn>
         <updateRate>50</updateRate>
         <topicName>sensor/ir_front</topicName>
         <frameName>base_ir_front</frameName>
         <radiation>INFRARED</radiation>
         <fov>0.2967</fov>
      </plugin>
   </sensor>  
   </gazebo>