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It turns out my problem was solved by starting gazebo with:

gazebo -s libgazebo_ros_api_plugin.so world

rather than just

gazebo world

which used to work, or

gazebo -s libgazebo_ros_api.so

which is what the error message:

Error [gazebo_ros_camera_utils.cpp:234] Not loading plugin since ROS hasn't been properly initialized.  Try starting gazebo with ros plugin:
  gazebo -s libgazebo_ros_api.so

recommends.

Chris