diff --git a/gazebo_plugins/src/gazebo_ros_camera.cpp b/gazebo_plugins/src/gazebo_ros_camera.cpp
index 4d7d18f89..792bef9ff 100644
--- a/gazebo_plugins/src/gazebo_ros_camera.cpp
+++ b/gazebo_plugins/src/gazebo_ros_camera.cpp
@@ -76,7 +76,7 @@ void GazeboRosCamera::OnNewFrame(const unsigned char *_image,
     unsigned int _width, unsigned int _height, unsigned int _depth,
     const std::string &_format)
 {
-  this->sensor_update_time_ = this->parentSensor_->GetLastUpdateTime();
+  common::Time sensor_update_time = this->parentSensor_->GetLastUpdateTime();
 
   if (!this->parentSensor->IsActive())
   {
@@ -91,8 +91,8 @@ void GazeboRosCamera::OnNewFrame(const unsigned char *_image,
       common::Time cur_time = this->world_->GetSimTime();
       if (cur_time - this->last_update_time_ >= this->update_period_)
       {
-        this->PutCameraData(_image);
-        this->PublishCameraInfo();
+        this->PutCameraData(_image, sensor_update_time);
+        this->PublishCameraInfo(sensor_update_time);
         this->last_update_time_ = cur_time;
       }
     }