simulated stereo camera fails when remapping topics

Dear all, I'm trying to simulate the Multisense SL device in Gazebo. I've started by modifying the plugin available here: https://bitbucket.org/osrf/drcsim/src/194be8500fef81593f79607a21ee2badd9700a0e/drcsim_gazebo_ros_plugins/src/?at=default The Gazebo-related URDF is the following: 0.90.90.90.90.90.90.90.910 0 0 0 0 0false4010811-2.3561942.3561940.1030.00.01gaussian0.00.0${prefix}/lidar_scan${prefix}/head_hokuyo_frame10.01.396263410241024R8G8B80.02300gaussian0.00.0070 -0.07 0 0 0 01.396263410241024R8G8B80.02300gaussian0.00.007true10.0${prefix}/cameraimage_colorcamera_info${prefix}/left_camera_optical_frame${prefix}/right_camera_optical_frame0.070.00.00.00.00.011000.0gaussian0.02e-40.00000750.00000080.01.7e-20.10.001${robot_name} To simulate the stereo, I need to run the stereo imageproc node from ROS, which needs a remap from the name "image_raw" (standard for the node) to "image_color" (standard name for Multisense real hardware). The code is the following: When I run the two, I get more than 600 Hz for the `/multisense/camera/left/image_color` topic (despite the update rate is set at 10 Hz), while for the `/multisense/camera/points2` I get 0.2 Hz. If I put `image_raw` in both files, I correctly get 10 Hz for both topics. Any suggestions? I'm running the simulation on Gazebo 2.2 with Indigo and Ubuntu 14.04.