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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:

  • Ubuntu 12.04.2 (64bit)
  • Gazebo 1.9.1
  • ROS Hydro (shadow-fixed)
  • create-gazebo-plugins 2.2.0
  • gazebo-ros-pgks 2.3.3
  • kobuki-gazebo-plugins 0.3.1
  • turtlebot-gazebo 2.1.1

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).