diff --git a/src/cuda_depth_to_lidar.cc b/src/cuda_depth_to_lidar.cc
index 906627d..7f73f43 100644
--- a/src/cuda_depth_to_lidar.cc
+++ b/src/cuda_depth_to_lidar.cc
@@ -360,13 +360,13 @@ class DepthToLidar : public K4AWrapper {
     }
 
     if (depth_image == nullptr) return;
-    PublishScan(stamp_time);
     if (FLAGS_depth) {
       PublishDepthImage(depth_image, stamp_time);
     }
     if (FLAGS_points) {
       DepthToPointCloud(color_image, depth_image);
       PublishPointCloud(stamp_time);
+      PublishScan(stamp_time);
     }
   }
 
diff --git a/src/depth_to_lidar.cc b/src/depth_to_lidar.cc
index 9f615ac..cf10741 100644
--- a/src/depth_to_lidar.cc
+++ b/src/depth_to_lidar.cc
@@ -370,7 +370,6 @@ class DepthToLidar : public K4AWrapper {
     }
 
     if (depth_image == nullptr) return;
-    PublishScan(stamp_time);
     if (FLAGS_depth) {
       // TODO consider publishing camera info also with same timestamp
       PublishDepthImage(depth_image, stamp_time);
@@ -378,6 +377,7 @@ class DepthToLidar : public K4AWrapper {
     if (FLAGS_points) {
       DepthToPointCloud(color_image, depth_image);
       PublishPointCloud(stamp_time);
+      PublishScan(stamp_time);
     }
   }