diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index c1da91b..434e194 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -644,7 +644,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
           is_published_[stream] = false;
         }
         api_->Start(Source::VIDEO_STREAMING);
-      } else {
+      } else if (sum_c > sum) {
         if ((camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 ||
             mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&
             !is_published_[Stream::LEFT]) {