"Ray" Sensor type causing Problems

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I am using Gazebo with ROS2 Foxy, and am trying to implement a Lidar into my URDF. My problem is, that for some reason when I choose "ray" as the sensor type, even though I get data that can be displayed in Programmes like RVIZ, everything else breaks.

I do not get any errors in the Console, but for some reason some libraries (slam_toolbox and nav2) behave weirdly and others crash completely. Currently, I solved this by using the gpu_ray sensor type, but as I'm running my simulations on a normal Laptop, the Frequency is really low, so I would rather return to the ray sensor.

Here's the XML I use for the Gazebo sensor (in this case using the gpu_ray, the only thing I do when switching between the two is editing line 2):

<gazebo reference="lidar_link">
    <sensor name="lidar" type="gpu_ray">
      <always_on>true</always_on>
      <visualize>true</visualize>
      <update_rate>30</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>360</samples>
            <resolution>1.000000</resolution>
            <min_angle>0.000000</min_angle>
            <max_angle>6.280000</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.300000</min>
          <max>3.5</max>
          <resolution>0.015000</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="scan" filename="libgazebo_ros_ray_sensor.so">
        <ros>
          <namespace>/robot</namespace>
          <argument>~/out:=scan</argument>
        </ros>
        <output_type>sensor_msgs/LaserScan</output_type>
        <frame_name>lidar_link</frame_name>
      </plugin>
    </sensor>
  </gazebo>
</robot>