diff --git a/gazebo_plugins/src/gazebo_ros_block_laser.cpp b/gazebo_plugins/src/gazebo_ros_block_laser.cpp
index 250be0112..b330e0137 100644
--- a/gazebo_plugins/src/gazebo_ros_block_laser.cpp
+++ b/gazebo_plugins/src/gazebo_ros_block_laser.cpp
@@ -211,6 +211,12 @@ void GazeboRosBlockLaser::OnNewLaserScans()
   if (this->topic_name_ != "")
   {
     common::Time sensor_update_time = this->parent_sensor_->LastUpdateTime();
+    if (sensor_update_time < last_update_time_)
+    {
+        ROS_WARN_NAMED("block_laser", "Negative sensor update time difference detected.");
+        last_update_time_ = sensor_update_time;
+    }
+
     if (last_update_time_ < sensor_update_time)
     {
       this->PutLaserData(sensor_update_time);
diff --git a/gazebo_plugins/src/gazebo_ros_camera.cpp b/gazebo_plugins/src/gazebo_ros_camera.cpp
index edb90ff4d..8a59a129c 100644
--- a/gazebo_plugins/src/gazebo_ros_camera.cpp
+++ b/gazebo_plugins/src/gazebo_ros_camera.cpp
@@ -88,6 +88,12 @@ void GazeboRosCamera::OnNewFrame(const unsigned char *_image,
   {
     if ((*this->image_connect_count_) > 0)
     {
+      if (sensor_update_time < this->last_update_time_)
+      {
+          ROS_WARN_NAMED("camera", "Negative sensor update time difference detected.");
+          this->last_update_time_ = sensor_update_time;
+      }
+
       // OnNewFrame is triggered at the gazebo sensor <update_rate>
       // while there is also a plugin <updateRate> that can throttle the
       // rate down further (but then why not reduce the sensor rate?
diff --git a/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp b/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp
index 1911db8f9..c125d731e 100644
--- a/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp
+++ b/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp
@@ -112,7 +112,14 @@ void GazeboRosJointStatePublisher::OnUpdate ( const common::UpdateInfo & _info )
 #else
     common::Time current_time = this->world_->GetSimTime();
 #endif
+    if (current_time < last_update_time_)
+    {
+        ROS_WARN_NAMED("joint_state_publisher", "Negative joint state update time difference detected.");
+        last_update_time_ = current_time;
+    }
+
     double seconds_since_last_update = ( current_time - last_update_time_ ).Double();
+
     if ( seconds_since_last_update > update_period_ ) {
 
         publishJointStates();
diff --git a/gazebo_plugins/src/gazebo_ros_p3d.cpp b/gazebo_plugins/src/gazebo_ros_p3d.cpp
index 57a381ab8..a252d222a 100644
--- a/gazebo_plugins/src/gazebo_ros_p3d.cpp
+++ b/gazebo_plugins/src/gazebo_ros_p3d.cpp
@@ -221,6 +221,12 @@ void GazeboRosP3D::UpdateChild()
   common::Time cur_time = this->world_->GetSimTime();
 #endif
 
+  if (cur_time < this->last_time_)
+  {
+      ROS_WARN_NAMED("p3d", "Negative update time difference detected.");
+      this->last_time_ = cur_time;
+  }
+
   // rate control
   if (this->update_rate_ > 0 &&
       (cur_time-this->last_time_).Double() < (1.0/this->update_rate_))
diff --git a/gazebo_plugins/src/gazebo_ros_range.cpp b/gazebo_plugins/src/gazebo_ros_range.cpp
index b9dc37d74..043955232 100644
--- a/gazebo_plugins/src/gazebo_ros_range.cpp
+++ b/gazebo_plugins/src/gazebo_ros_range.cpp
@@ -248,6 +248,12 @@ void GazeboRosRange::OnNewLaserScans()
 #else
     common::Time cur_time = this->world_->GetSimTime();
 #endif
+    if (cur_time < this->last_update_time_)
+    {
+        ROS_WARN_NAMED("range", "Negative sensor update time difference detected.");
+        this->last_update_time_ = cur_time;
+    }
+
     if (cur_time - this->last_update_time_ >= this->update_period_)
     {
       common::Time sensor_update_time =