diff --git a/gazebo_dev/cmake/gazebo_dev-extras.cmake b/gazebo_dev/cmake/gazebo_dev-extras.cmake
index d4bdd3b81..3d2259a04 100644
--- a/gazebo_dev/cmake/gazebo_dev-extras.cmake
+++ b/gazebo_dev/cmake/gazebo_dev-extras.cmake
@@ -3,11 +3,38 @@ find_package(gazebo REQUIRED)
 
 message(STATUS "Gazebo version: ${GAZEBO_VERSION}")
 
+# Workaround for https://github.com/ros-simulation/gazebo_ros_pkgs/issues/1372
+# Real fix should go into Gazebo11 https://github.com/osrf/gazebo/issues/3008
+# On Ubuntu Jammy Gazebo11 is used directly from Ubuntu, before removing this
+# please be sure that the package is updated there.
+pkg_check_modules(TBB tbb)
+set(TBB_PKG_CONFIG "tbb")
+if(NOT TBB_FOUND)
+  message(STATUS "TBB not found, attempting to detect manually")
+  set(TBB_PKG_CONFIG "")
+
+  # Workaround for CMake bug https://gitlab.kitware.com/cmake/cmake/issues/17135
+  unset(TBB_FOUND CACHE)
+
+  find_package(TBB CONFIG)
+  if(TBB_FOUND)
+    set(TBB_LIBRARIES TBB::tbb)
+  else()
+    find_library(tbb_library tbb ENV LD_LIBRARY_PATH)
+    if(tbb_library)
+      set(TBB_FOUND true)
+      set(TBB_LIBRARIES ${tbb_library})
+    else()
+      message(FATAL_ERROR "Missing: TBB - Threading Building Blocks")
+    endif()
+  endif()
+endif()
+
 # The following lines will tell catkin to add the Gazebo directories and libraries to the
 # respective catkin_* cmake variables.
 set(gazebo_dev_INCLUDE_DIRS ${GAZEBO_INCLUDE_DIRS})
-set(gazebo_dev_LIBRARY_DIRS ${GAZEBO_LIBRARY_DIRS})
-set(gazebo_dev_LIBRARIES ${GAZEBO_LIBRARIES})
+set(gazebo_dev_LIBRARY_DIRS ${GAZEBO_LIBRARY_DIRS} ${TBB_LIBRARY_DIRS})
+set(gazebo_dev_LIBRARIES ${GAZEBO_LIBRARIES} ${TBB_LIBRARIES})
 
 # Append gazebo CXX_FLAGS to CMAKE_CXX_FLAGS (c++11)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
diff --git a/gazebo_plugins/src/gazebo_ros_camera.cpp b/gazebo_plugins/src/gazebo_ros_camera.cpp
index 5758592b2..c5251234f 100644
--- a/gazebo_plugins/src/gazebo_ros_camera.cpp
+++ b/gazebo_plugins/src/gazebo_ros_camera.cpp
@@ -184,7 +184,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
   if (impl_->sensor_type_ != GazeboRosCameraPrivate::MULTICAMERA) {
     // Image publisher
     // TODO(louise) Migrate image_connect logic once SubscriberStatusCallback is ported to ROS2
-    const std::string camera_topic = impl_->camera_name_ + "/image_raw";
+    const std::string camera_topic = "~/image_raw";
     impl_->image_pub_.push_back(
       image_transport::create_publisher(
         impl_->ros_node_.get(), camera_topic, qos.get_publisher_qos(
@@ -197,7 +197,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
 
     // Camera info publisher
     // TODO(louise) Migrate ImageConnect logic once SubscriberStatusCallback is ported to ROS2
-    const std::string camera_info_topic = impl_->camera_name_ + "/camera_info";
+    const std::string camera_info_topic = "~/camera_info";
     impl_->camera_info_pub_.push_back(
       impl_->ros_node_->create_publisher<sensor_msgs::msg::CameraInfo>(
         camera_info_topic, qos.get_publisher_qos(
@@ -210,7 +210,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
   } else {
     for (uint64_t i = 0; i < impl_->num_cameras_; ++i) {
       const std::string camera_topic =
-        impl_->camera_name_ + "/" + MultiCameraPlugin::camera_[i]->Name() + "/image_raw";
+        "~/" + MultiCameraPlugin::camera_[i]->Name() + "/image_raw";
       // Image publisher
       impl_->image_pub_.push_back(
         image_transport::create_publisher(
@@ -223,7 +223,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
       //   impl_->image_pub_.back().getTopic());
 
       const std::string camera_info_topic =
-        impl_->camera_name_ + "/" + MultiCameraPlugin::camera_[i]->Name() + "/camera_info";
+        "~/" + MultiCameraPlugin::camera_[i]->Name() + "/camera_info";
       // Camera info publisher
       impl_->camera_info_pub_.push_back(
         impl_->ros_node_->create_publisher<sensor_msgs::msg::CameraInfo>(
@@ -238,7 +238,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
   }
 
   if (impl_->sensor_type_ == GazeboRosCameraPrivate::DEPTH) {
-    const std::string depth_topic = impl_->camera_name_ + "/depth/image_raw";
+    const std::string depth_topic = "~/depth/image_raw";
     // Depth image publisher
     impl_->depth_image_pub_ = image_transport::create_publisher(
       impl_->ros_node_.get(), depth_topic, qos.get_publisher_qos(
@@ -247,7 +247,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
     // RCLCPP_INFO(impl_->ros_node_->get_logger(), "Publishing depth images to [%s]",
     //   impl_->depth_image_pub_.getTopic().c_str());
 
-    const std::string depth_info_topic = impl_->camera_name_ + "/depth/camera_info";
+    const std::string depth_info_topic = "~/depth/camera_info";
     // Depth info publisher
     impl_->depth_camera_info_pub_ =
       impl_->ros_node_->create_publisher<sensor_msgs::msg::CameraInfo>(
@@ -257,7 +257,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
       impl_->ros_node_->get_logger(), "Publishing depth camera info to [%s]",
       impl_->depth_camera_info_pub_->get_topic_name());
 
-    const std::string point_cloud_topic = impl_->camera_name_ + "/points";
+    const std::string point_cloud_topic = "~/points";
     // Point cloud publisher
     impl_->point_cloud_pub_ = impl_->ros_node_->create_publisher<sensor_msgs::msg::PointCloud2>(
       point_cloud_topic, qos.get_publisher_qos(point_cloud_topic, rclcpp::QoS(1)));
@@ -269,7 +269,7 @@ void GazeboRosCamera::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _
 
   // Trigger
   if (_sdf->Get<bool>("triggered", false).first) {
-    const std::string trigger_topic = impl_->camera_name_ + "/image_trigger";
+    const std::string trigger_topic = "~/image_trigger";
     impl_->trigger_sub_ = impl_->ros_node_->create_subscription<std_msgs::msg::Empty>(
       trigger_topic, qos.get_subscription_qos(trigger_topic, rclcpp::QoS(1)),
       std::bind(&GazeboRosCamera::OnTrigger, this, std::placeholders::_1));