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In response to watts, yes the images are being published and I can view them with the image viewer. It is very likely fergs is correct, as the separate usb_cam nodes do not synchronize the timestamps. Overall, I solved the problem by going back to using the camera_umd/uvc_camera/stereo_node which does the synchronization as well as support the set_camera_info service. However, in order to do so, I had to modify the uvc_camera/uvc_cam.cpp file so it did not screw up the Logitech Webcam Pro 9000 default settings, which was the original problem that drove me to try the method above. As always, more than one way to skin the cat.

Thank you for your replies!