diff --git a/include/gz/sensors/LogicalCameraSensor.hh b/include/gz/sensors/LogicalCameraSensor.hh
index f7e10449..3a5a7b54 100644
--- a/include/gz/sensors/LogicalCameraSensor.hh
+++ b/include/gz/sensors/LogicalCameraSensor.hh
@@ -104,6 +104,14 @@ namespace gz
       /// \return True if there are subscribers, false otherwise
       public: virtual bool HasConnections() const override;
 
+      /// \brief Check if there are any image subscribers
+      /// \return True if there are image subscribers, false otherwise
+      public: virtual bool HasImageConnections() const;
+
+      /// \brief Check if there are any frustum subscribers
+      /// \return True if there are info subscribers, false otherwise
+      public: virtual bool HasFrustumConnections() const;
+
       /// \brief Get the latest image. An image is an instance of
       /// msgs::LogicalCameraImage, which contains a list of detected models.
       /// \return List of detected models.
diff --git a/include/gz/sensors/Sensor.hh b/include/gz/sensors/Sensor.hh
index f5cc7e1a..404cbca5 100644
--- a/include/gz/sensors/Sensor.hh
+++ b/include/gz/sensors/Sensor.hh
@@ -161,10 +161,6 @@ namespace gz
       /// \return Topic sensor publishes data to
       public: std::string Topic() const;
 
-      /// \brief Get topic where sensor data is published.
-      /// \return Topic sensor publishes data to
-      public: std::string Topic_logic() const;
-
       /// \brief Set topic where sensor data is published.
       /// \param[in] _topic Topic sensor publishes data to.
       /// \return True if a valid topic was set.
diff --git a/src/LogicalCameraSensor.cc b/src/LogicalCameraSensor.cc
index 63988a09..939dd08c 100644
--- a/src/LogicalCameraSensor.cc
+++ b/src/LogicalCameraSensor.cc
@@ -110,7 +110,7 @@ bool LogicalCameraSensor::Load(sdf::ElementPtr _sdf)
     return false;
 
   if (this->Topic().empty())
-    this->SetTopic("/camera/logical");
+    this->SetTopic("/logical_camera");
 
   this->dataPtr->pub =
       this->dataPtr->node.Advertise<msgs::LogicalCameraImage>(
@@ -236,6 +236,17 @@ msgs::LogicalCameraImage LogicalCameraSensor::Image() const
 //////////////////////////////////////////////////
 bool LogicalCameraSensor::HasConnections() const
 {
-  return this->dataPtr->pub_logic && this->dataPtr->pub_logic.HasConnections();
+  return this->HasImageConnections() || this->HasFrustumConnections();
+}
+
+//////////////////////////////////////////////////
+bool LogicalCameraSensor::HasImageConnections() const
+{
+  return this->dataPtr->pub && this->dataPtr->pub.HasConnections();
 }
 
+//////////////////////////////////////////////////
+bool LogicalCameraSensor::HasFrustumConnections() const
+{
+  return this->dataPtr->pub_logic && this->dataPtr->pub_logic.HasConnections();
+}