This video post explains how to integrate Camera plugin with a ROS robot simulated by Gazebo. Learn how to simulate camera capture in Gazebo & visualize camera images in Rviz is also demonstrated.
The code discussed is yet another simple stand-alone example. It was tested with ROS Kinetic & Gazebo 7 running on Ubuntu 16.04.
First, clone or pull the example code from my git repository. And create ROS package files on top of source files.
git checkout https://bitbucket.org/kiranpalla/learn-ros
Build ROS package and add it to ROS search path.
Launch the example.
roslaunch mybot mybot.launch