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Ignition Gazebo system plugins aren't exposing Ignition Sensor pointers yet. But for rendering sensors like the camera, there's a workaround to access the rendering objects.

You can take advantage of the fact that the rendering engine is a singleton and access the rendering camera using that. You can get the camera like this.

This is not very convenient though, we should make that easier. Here's a related issue: https://github.com/ignitionrobotics/ign-gazebo/issues/49