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EDIT #1:

It looks like I was reading the code incorrectly, and @AndreiHaidu's answer is correct. My test case uses VisualPlugins which still fails (all parameters get wiped in the SDF received by the visual plugin). Are VisualPlugin's supposed to have this same functionality as well?

Edit #2:

Here are a few files that should reproduce the error:

http://farnsworth.csres.utexas.edu/share/model.sdf http://farnsworth.csres.utexas.edu/share/gazebo_ros_video.h http://farnsworth.csres.utexas.edu/share/gazebo_ros_video.cc

The plugin works for the default parameters, displaying a ROS image topic inside gazebo.

Here's a bit more info that might be useful. I have a patch in the works that forwards visual plugins in parser_urdf. For my real setup I have verified that Gazebo receives the correct converted SDF:

<visual name='base_footprint_visuallaptop_screen_link'>
  <pose>0.236849 -0.000000 1.093250 0.000000 -1.047200 -0.000000</pose>
  <geometry>
    <box>
      <size>0.254000 0.330200 0.019050</size>
    </box>
  </geometry>
  <material>
    <script>
      <name>Gazebo/Grey</name>
    </script>
  </material>
  <plugin name='laptop_video_controller' filename='libgazebo_ros_video.so'>
    <height>240</height>
    <width>320</width>
    <topicName>image_raw</topicName>
  </plugin>
</visual>

By the time this reaches Visual::Load, it gets changed to:

<visual name='robot1::base_footprint::base_footprint_visuallaptop_screen_link'>
  <geometry>
    <box>
      <size>0.254000 0.330200 0.019050</size>
    </box>
  </geometry>
  <pose>0.236849 0.000000 1.093250 0.000000 -1.047200 0.000000</pose>
  <material>
    <script>
      <name>Gazebo/Grey</name>
      <uri>__default__</uri>
    </script>
  </material>
  <plugin name='laptop_video_controller' filename='libgazebo_ros_video.so'/>
</visual>

This is as far as I have gotten to figuring out whats going wrong.