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I just tested my deb installation and couldn't reproduce the error you described.
Btw, the correct topic name for the depth image stream should be: rostopic echo /camera/depth/image_raw
. Even more convenient is:
rosrun image_view image_view image:=/camera/depth/image_raw
My setup:
You might are experiencing some errors due to the current Gazebo 2.0 glitches. Try re-installing all Gazebo-related packages.
If that doesn't help, try switching to "shadow-fixed" by replacing deb http://packages.ros.org/ros/ubuntu <your_ubuntu_version> main
with deb http://packages.ros.org/ros-shadow-fixed/ubuntu <your_ubuntu_version> main
in /etc/apt/sources.list.d/ros-latest.list
. Then you will be able to get more recent versions (the ones I have listed above).