diff --git a/gazebo_plugins/src/gazebo_ros_depth_camera.cpp b/gazebo_plugins/src/gazebo_ros_depth_camera.cpp
index c7acaf723..e0b808a0f 100644
--- a/gazebo_plugins/src/gazebo_ros_depth_camera.cpp
+++ b/gazebo_plugins/src/gazebo_ros_depth_camera.cpp
@@ -218,6 +218,7 @@ void GazeboRosDepthCamera::OnNewDepthFrame(const float *_image,
       // do this first so there's chance for sensor to run 1 frame after activate
       this->parentSensor->SetActive(true);
   }
+  PublishCameraInfo();
 }
 
 ///////////////////////////////////////////////////////////////////////////////