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I think ROS (rviz + rqt) are doing what they say they should:

From http://www.ros.org/reps/rep-0103.html#suffix-frames:

In the case of cameras, there is often a second frame defined with a "_optical" suffix. This uses a slightly different convention:

z forward
x right
y down

You might consider posting a link to this and/or the GitHub issue on http://answers.gazebosim.org/questions/.

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