raycast_image corrupted when using gazebo camera

[martinakos]

I'm trying to use yak with gazebo. I have successfully run yak with a xtion camera. However, when I launch yak using the color and depth messages from a kinect camera in gazebo the /kinfu/raycast_image looks corrupted, like this:

Do you have any idea what the problem could be?

[martinakos]

I suspect it may be related with yak depth image being unsigned short type while gazebo gazebo_ros_openni_kinect plugin producing a 32FC1 image.