diff --git a/gazebo_plugins/src/gazebo_ros_camera_utils.cpp b/gazebo_plugins/src/gazebo_ros_camera_utils.cpp
index d5dfe8395..991244dfa 100644
--- a/gazebo_plugins/src/gazebo_ros_camera_utils.cpp
+++ b/gazebo_plugins/src/gazebo_ros_camera_utils.cpp
@@ -629,15 +629,14 @@ void GazeboRosCameraUtils::PublishCameraInfo()
   if (this->camera_info_pub_.getNumSubscribers() > 0)
   {
 # if GAZEBO_MAJOR_VERSION >= 7
-    this->sensor_update_time_ = this->parentSensor_->LastUpdateTime();
+    this->sensor_update_time_ = this->parentSensor_->LastMeasurementTime();
 # else
-    this->sensor_update_time_ = this->parentSensor_->GetLastUpdateTime();
+    this->sensor_update_time_ = this->parentSensor_->GetLastMeasurementTime();
 # endif
-    common::Time cur_time = this->world_->GetSimTime();
-    if (cur_time - this->last_info_update_time_ >= this->update_period_)
+    if (this->sensor_update_time_ - this->last_info_update_time_ >= this->update_period_)
     {
       this->PublishCameraInfo(this->camera_info_pub_);
-      this->last_info_update_time_ = cur_time;
+      this->last_info_update_time_ = this->sensor_update_time_;
     }
   }
 }
diff --git a/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp b/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp
index c852f6f94..869c3fa64 100644
--- a/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp
+++ b/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp
@@ -189,9 +189,9 @@ void GazeboRosOpenniKinect::OnNewDepthFrame(const float *_image,
     return;
 
 # if GAZEBO_MAJOR_VERSION >= 7
-  this->depth_sensor_update_time_ = this->parentSensor->LastUpdateTime();
+  this->depth_sensor_update_time_ = this->parentSensor->LastMeasurementTime();
 # else
-  this->depth_sensor_update_time_ = this->parentSensor->GetLastUpdateTime();
+  this->depth_sensor_update_time_ = this->parentSensor->GetLastMeasurementTime();
 # endif
   if (this->parentSensor->IsActive())
   {
@@ -231,9 +231,9 @@ void GazeboRosOpenniKinect::OnNewImageFrame(const unsigned char *_image,
 
   //ROS_ERROR("camera_ new frame %s %s",this->parentSensor_->GetName().c_str(),this->frame_name_.c_str());
 # if GAZEBO_MAJOR_VERSION >= 7
-  this->sensor_update_time_ = this->parentSensor_->LastUpdateTime();
+  this->sensor_update_time_ = this->parentSensor_->LastMeasurementTime();
 # else
-  this->sensor_update_time_ = this->parentSensor_->GetLastUpdateTime();
+  this->sensor_update_time_ = this->parentSensor_->GetLastMeasurementTime();
 # endif
 
   if (this->parentSensor->IsActive())
@@ -447,15 +447,14 @@ void GazeboRosOpenniKinect::PublishCameraInfo()
   if (this->depth_info_connect_count_ > 0)
   {
 # if GAZEBO_MAJOR_VERSION >= 7
-    this->sensor_update_time_ = this->parentSensor_->LastUpdateTime();
+    this->sensor_update_time_ = this->parentSensor_->LastMeasurementTime();
 # else
-    this->sensor_update_time_ = this->parentSensor_->GetLastUpdateTime();
+    this->sensor_update_time_ = this->parentSensor_->GetLastMeasurementTime();
 # endif
-    common::Time cur_time = this->world_->GetSimTime();
-    if (cur_time - this->last_depth_image_camera_info_update_time_ >= this->update_period_)
+    if (this->sensor_update_time_ - this->last_depth_image_camera_info_update_time_ >= this->update_period_)
     {
       this->PublishCameraInfo(this->depth_image_camera_info_pub_);
-      this->last_depth_image_camera_info_update_time_ = cur_time;
+      this->last_depth_image_camera_info_update_time_ = this->sensor_update_time_;
     }
   }
 }
diff --git a/gazebo_plugins/src/gazebo_ros_prosilica.cpp b/gazebo_plugins/src/gazebo_ros_prosilica.cpp
index dd0203290..2e529ca9b 100644
--- a/gazebo_plugins/src/gazebo_ros_prosilica.cpp
+++ b/gazebo_plugins/src/gazebo_ros_prosilica.cpp
@@ -132,9 +132,9 @@ void GazeboRosProsilica::OnNewImageFrame(const unsigned char *_image,
   // should do nothing except turning camera on/off, as we are using service.
   /// @todo: consider adding thumbnailing feature here if subscribed.
 # if GAZEBO_MAJOR_VERSION >= 7
-  common::Time sensor_update_time = this->parentSensor_->LastUpdateTime();
+  common::Time sensor_update_time = this->parentSensor_->LastMeasurementTime();
 # else
-  common::Time sensor_update_time = this->parentSensor_->GetLastUpdateTime();
+  common::Time sensor_update_time = this->parentSensor_->GetLastMeasurementTime();
 # endif
 
   // as long as ros is connected, parent is active
@@ -153,12 +153,11 @@ void GazeboRosProsilica::OnNewImageFrame(const unsigned char *_image,
     {
       if ((*this->image_connect_count_) > 0)
       {
-        common::Time cur_time = this->world_->GetSimTime();
-        if (cur_time - this->last_update_time_ >= this->update_period_)
+        if (sensor_update_time - this->last_update_time_ >= this->update_period_)
         {
           this->PutCameraData(_image, sensor_update_time);
           this->PublishCameraInfo(sensor_update_time);
-          this->last_update_time_ = cur_time;
+          this->last_update_time_ = sensor_update_time;
         }
       }
     }
@@ -227,9 +226,9 @@ void GazeboRosProsilica::pollCallback(polled_camera::GetPolledImage::Request& re
         this->roiCameraInfoMsg->header.frame_id = this->frame_name_;
 
 # if GAZEBO_MAJOR_VERSION >= 7
-        common::Time roiLastRenderTime = this->parentSensor_->LastUpdateTime();
+        common::Time roiLastRenderTime = this->parentSensor_->LastMeasurementTime();
 # else
-        common::Time roiLastRenderTime = this->parentSensor_->GetLastUpdateTime();
+        common::Time roiLastRenderTime = this->parentSensor_->GetLastMeasurementTime();
 # endif
         this->roiCameraInfoMsg->header.stamp.sec = roiLastRenderTime.sec;
         this->roiCameraInfoMsg->header.stamp.nsec = roiLastRenderTime.nsec;
@@ -285,9 +284,9 @@ void GazeboRosProsilica::pollCallback(polled_camera::GetPolledImage::Request& re
         this->image_msg_.header.frame_id    = this->frame_name_;
 
 # if GAZEBO_MAJOR_VERSION >= 7
-        common::Time lastRenderTime = this->parentSensor_->LastUpdateTime();
+        common::Time lastRenderTime = this->parentSensor_->LastMeasurementTime();
 # else
-        common::Time lastRenderTime = this->parentSensor_->GetLastUpdateTime();
+        common::Time lastRenderTime = this->parentSensor_->GetLastMeasurementTime();
 # endif
         this->image_msg_.header.stamp.sec = lastRenderTime.sec;
         this->image_msg_.header.stamp.nsec = lastRenderTime.nsec;
@@ -313,9 +312,9 @@ void GazeboRosProsilica::pollCallback(polled_camera::GetPolledImage::Request& re
           this->roiImageMsg = ℑ
           this->roiImageMsg->header.frame_id = this->frame_name_;
 # if GAZEBO_MAJOR_VERSION >= 7
-          common::Time roiLastRenderTime = this->parentSensor_->LastUpdateTime();
+          common::Time roiLastRenderTime = this->parentSensor_->LastMeasurementTime();
 # else
-          common::Time roiLastRenderTime = this->parentSensor_->GetLastUpdateTime();
+          common::Time roiLastRenderTime = this->parentSensor_->GetLastMeasurementTime();
 # endif
           this->roiImageMsg->header.stamp.sec = roiLastRenderTime.sec;
           this->roiImageMsg->header.stamp.nsec = roiLastRenderTime.nsec;
diff --git a/gazebo_plugins/test/camera/depth_camera.world b/gazebo_plugins/test/camera/depth_camera.world
index 978a0a4b2..73132f908 100644
--- a/gazebo_plugins/test/camera/depth_camera.world
+++ b/gazebo_plugins/test/camera/depth_camera.world
@@ -124,7 +124,7 @@
           <depthImageTopicName>depth/image_raw</depthImageTopicName>
           <!-- neither camera info is getting published, frame_id is empty 
             in points and both image headers -->
-          <depthImageTopicCameraInfoName>depth/camera_info</depthImageCameraInfoTopicName>
+          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
           <pointCloudTopicName>points</pointCloudTopicName>
           <frameName>camera_link</frameName>
           <!-- TODO(lucasw) is this used by depth camera at all? -->