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This message indicates the problem:

Error [] Can't open display:
Warning [] Unable to create X window. Rendering will be disabled

If a display can't be opened, then camera (and in some cases laser) sensor generation can't be done. Possible causes:

  • X isn't running.
  • Nobody is logged into X
  • The DISPLAY environment variable isn't set correctly; it should usually be set to something like localhost:0.
  • The user you're running as doesn't have permission to access the X display.

If you're trying to run gzserver remotely on a headless machine, you might find my answer to this related question useful.