multicamera: compressed images only work with the 1st camera

edit

I'm getting an error when using the multicamera. It looks like compressed images only work with the 1st camera.

Bug? Any workarounds?

Thanks.

Command:

gzserver -s libgazebo_ros_init.so -s libgazebo_ros_factory.so install/orca_vision/share/orca_vision/worlds/test.world

Results:

[INFO] camera_controller: Publishing left camera info to [/stereo/left/camera_info]
[ERROR] camera_controller: Failed to load plugin image_transport/compressed_pub, error string: parameter 'format' has already been declared
[INFO] camera_controller: Publishing right camera info to [/stereo/right/camera_info]

ROS topics:

/clock
/parameter_events
/rosout
/stereo/left/camera_info
/stereo/left/image_raw
/stereo/left/image_raw/compressed
/stereo/left/image_raw/compressedDepth
/stereo/left/image_raw/theora
/stereo/right/camera_info
/stereo/right/image_raw
/stereo/right/image_raw/compressedDepth
/stereo/right/image_raw/theora

test.world:

<?xml version="1.0"?>
<sdf version="1.6">
  <world name="default">
    <!-- Sun -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- Stereo camera model -->
    <model name="camera_model">
      <pose>0 0 -2 0 1.570796327 0</pose>
      <!-- Not static: the motion plugin moves the camera around -->
      <static>false</static>
      <link name="camera_link">
        <!-- Turn gravity off, otherwise the camera moves toward the floor -->
        <gravity>0</gravity>
        <inertial> <!-- inertial tag is REQUIRED for Gazebo -->
          <pose frame=''>0 0 0 0 0 0</pose>
          <mass>1</mass>
          <inertia>
            <ixx>0.1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.1</iyy>
            <iyz>0</iyz>
            <izz>0.1</izz>
          </inertia>
        </inertial>
        <visual name='camera_link_visual'>
          <pose frame=''>0 0 0 0 0 0</pose>
          <geometry>
            <box>
              <size>0.02 0.4 0.05</size>
            </box>
          </geometry>
        </visual>
        <sensor type="multicamera" name="stereo">
          <pose>0 0 0 0 0 0</pose>
          <update_rate>30</update_rate>
          <visualize>true</visualize>
          <camera name="left">
            <!-- Left camera frame == camera_link -->
            <pose>0 0 0 0 0 0</pose>
            <horizontal_fov>1.4</horizontal_fov>
            <image>
              <width>800</width>
              <height>600</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>300</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <!-- Noise is sampled independently per pixel on each frame.
                   That pixel's noise value is added to each of its color
                   channels, which at that point lie in the range [0,1]. -->
              <mean>0.0</mean>
              <stddev>0.007</stddev>
            </noise>
          </camera>
          <camera name="right">
            <!-- Right camera frame is 0.4m to the right (-0.4m to the left) of camera_link -->
            <pose>0 -0.4 0 0 0 0</pose>
            <horizontal_fov>1.4</horizontal_fov>
            <image>
              <width>800</width>
              <height>600</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>300</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <!-- Noise is sampled independently per pixel on each frame.
                   That pixel's noise value is added to each of its color
                   channels, which at that point lie in the range [0,1]. -->
              <mean>0.0</mean>
              <stddev>0.007</stddev>
            </noise>
          </camera>
          <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
            <!-- Omit camera_name, will default to sensor name -->
            <!-- Omit frame_name, will default to link name -->
            <!-- The baseline value is the distance between the 2 cameras. It shows up in the
                 camera info projection matrix. In theory it can be gleaned by looking at the
                 pose tags of the 2 ...