diff --git a/models/orogen/rock_gazebo.rb b/models/orogen/rock_gazebo.rb
index dbfe23c..7c48a8e 100644
--- a/models/orogen/rock_gazebo.rb
+++ b/models/orogen/rock_gazebo.rb
@@ -252,7 +252,7 @@ def configure(*)
 
     transformer do
         frames "sensor"
-        associate_ports_to_frame "laser_scan_samples", "sensor"
+        associate_ports_to_frame "laser_scan_samples", "depth_map_samples", "sensor"
     end
 end