Using multiple iris uavs with depth camera

Hello, I am working on a project that deals with multiple UAVs. I’d like to implement an obstacle avoidance algorithm using iris_depth_camera model. I can spawn multiple iris UAVs and locate their corresponding rostopics (i.e., uav0/…) without a problem, however, when replacing the regular iris model with iris_depth_camera, UAVs won’t have their own topics for camera values. the topic stays the same (/camera/…). What do I have to change in the firmware to make each model have its own camera topics (i.e., uav0/camera/…) because namespacing seems not to be the solution.