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Streaming Camera Data to Separate Application

I am in the process of building an application where I would like to embed the Gazebo simulation environment only into my application and then run non-interactive ROS modules on it. It seems like I should be able to acquire frames from the camera like in the tutorial here and then pipe them elsewhere for display. Does that seem like a feasible way to approach the problem? I don't want to get too deep into hacking and find out what I'm doing isn't viable at all.