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Sounds like you're talking about the logical camera. Here is a world that uses it. I don't see any tutorials for it, but if you figure it out a contribution of a tutorial would be very welcome here.

Sounds like you're talking about the logical camera. Here is a world that uses it. I don't see any tutorials for it, but if you figure it out a contribution of a tutorial would be very welcome here.

Looks like there is a message logical_camera_image.proto.There may be a topic publishing that message. The logical_camera_sensor integration test should show howto read the camera output.