diff --git a/include/sdf/Camera.hh b/include/sdf/Camera.hh
index b766d4089..223bcab76 100644
--- a/include/sdf/Camera.hh
+++ b/include/sdf/Camera.hh
@@ -324,6 +324,20 @@ namespace sdf
     /// \param[in] _frame The name of the pose relative-to frame.
     public: void SetPoseRelativeTo(const std::string &_frame);
 
+    /// \brief Get the name of the coordinate frame relative to which this
+    /// object's camera_info message header is expressed.
+    /// Note: while Gazebo interprets the camera frame to be looking towards +X,
+    /// other tools, such as ROS interprets this frame as looking towards +Z.
+    /// The Camera sensor assumes that the color and depth images are captured at
+    /// the same frame_id.
+    /// \return The name of the frame this camera uses in its camera_info topic.
+    public: const std::string OpticalFrameId() const;
+
+    /// \brief Set the name of the coordinate frame relative to which this
+    /// object's camera_info is expressed.
+    /// \param[in] _frame The frame this camera uses in its camera_info topic.
+    public: void SetOpticalFrameId(const std::string &_frame);
+
     /// \brief Get the lens type. This is the type of the lens mapping.
     /// Supported values are gnomonical, stereographic, equidistant,
     /// equisolid_angle, orthographic, custom. For gnomonical (perspective)
diff --git a/src/Camera.cc b/src/Camera.cc
index 52c2705cf..9d3e52ed2 100644
--- a/src/Camera.cc
+++ b/src/Camera.cc
@@ -133,6 +133,9 @@ class sdf::Camera::Implementation
   /// \brief Frame of the pose.
   public: std::string poseRelativeTo = "";
 
+  /// \brief Frame ID the camera_info message header is expressed.
+  public: std::string opticalFrameId = "";
+
   /// \brief Lens type.
   public: std::string lensType{"stereographic"};
 
@@ -329,6 +332,11 @@ Errors Camera::Load(ElementPtr _sdf)
   // Load the pose. Ignore the return value since the pose is optional.
   loadPose(_sdf, this->dataPtr->pose, this->dataPtr->poseRelativeTo);
 
+  if (_sdf->HasElement("optical_frame_id"))
+  {
+    this->dataPtr->opticalFrameId = _sdf->Get<std::string>("optical_frame_id", "").first;
+  }
+
   // Load the lens values.
   if (_sdf->HasElement("lens"))
   {
@@ -635,7 +643,8 @@ bool Camera::operator==(const Camera &_cam) const
     this->SaveFrames() == _cam.SaveFrames() &&
     this->SaveFramesPath() == _cam.SaveFramesPath() &&
     this->ImageNoise() == _cam.ImageNoise() &&
-    this->VisibilityMask() == _cam.VisibilityMask();
+    this->VisibilityMask() == _cam.VisibilityMask() &&
+    this->OpticalFrameId() == _cam.OpticalFrameId();
 }
 
 //////////////////////////////////////////////////
@@ -752,6 +761,18 @@ void Camera::SetPoseRelativeTo(const std::string &_frame)
   this->dataPtr->poseRelativeTo = _frame;
 }
 
+/////////////////////////////////////////////////
+const std::string Camera::OpticalFrameId() const
+{
+  return this->dataPtr->opticalFrameId;
+}
+
+/////////////////////////////////////////////////
+void Camera::SetOpticalFrameId(const std::string &_frame)
+{
+  this->dataPtr->opticalFrameId = _frame;
+}
+
 /////////////////////////////////////////////////
 std::string Camera::LensType() const
 {