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By adding a link for the depthframe I got rid of the wrong transform.

  <joint name="cameraLeft_joint" type="fixed">
    <origin xyz="0 0.11 0.02" rpy="0 0.39 1"/>
    <parent link="cameraBase_link"/>
    <child link="cameraLeft_link"/>
  </joint>

  <link name="cameraLeft_link">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.05 0.05 0.05"/>
      </geometry>
    </collision>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
    <box size="0.05 0.05 0.05"/>
      </geometry>
      <material name="orange"/>
    </visual>

    <inertial> 
      <origin xyz="0 0 0" rpy="0 0 0"/> 
      <mass value="0.1"/> 
      <box_inertia m="0.1" x="0.05" y="0.05" z="0.05"/>
    </inertial>
  </link>

  
  <joint name="cameraLeft_depth_joint" type="fixed">
    <origin xyz="0 0 0" rpy="${-PI/2} 0 ${-PI/2} "/>
    <parent link="cameraLeft_link"/>
    <child link="cameraLeft_depth_link"/>
  </joint>

  <link name="cameraLeft_depth_link"></link>

  <gazebo reference="cameraLeft_link">
    <sensor type="depth" name="openni_camera_camera">      
        <always_on>1</always_on>
        <visualize>true</visualize>             
        <camera>
            <horizontal_fov>1.3962634</horizontal_fov>  
            <image>
                <width>640</width>
                <height>480</height>
                <format>R8G8B8</format>
            </image>

            <clip>
                <near>0.1</near>
                <far>100</far>
            </clip>
        </camera>
        <plugin name="cameraLeft_controller" filename="libgazebo_ros_openni_kinect.so">
            <alwayson>true</alwayson>
                <updaterate>30.0</updaterate>
                <cameraname>cameraLeft</cameraname>
                <framename>cameraLeft_depth_link</framename>                  
            <imagetopicname>CameraLeft/rgb/image_raw</imagetopicname>
            <depthimagetopicname>CameraLeft/depth/image_raw</depthimagetopicname>
            <pointcloudtopicname>CameraLeft/depth/points</pointcloudtopicname>
            <camerainfotopicname>CameraLeft/rgb/camera_info</camerainfotopicname>              
            <depthimagecamerainfotopicname>CameraLeft/depth/camera_info</depthimagecamerainfotopicname>            
            <pointcloudcutoff>0.8</pointcloudcutoff>
            <pointcloudcutoffmax>3.5</pointcloudcutoffmax>          
            </plugin>
    </sensor>
  </gazebo>