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Replacing the plugin libgazebo_ros_multicamera.so by libgazebo_ros_camera.so in the xacro definition of the sensor seems to work. At least, the images are published as well as their cameraInfo.
But the images are not published at the same timestamp even though I'm using use_sim_time, and the /clock corresponds to the time displayed in Gazebo... I also tried to launch Gazebo with the lock_step option without success.

Someone can help me with this ?
Also I'd like to understand why the libgazebo_ros_multicamera.so isn't built while the build and install ionstructions are clearly in the cmakelist.txt or gazebo_ros_pkgs.