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You can run Gazebo headless (without a GUI) through the gzserver command. To give you a bit more insight, there are two primary executables: gzserver and gzclient. gzserver runs physics, sensors, etc and gzclient runs the GUI. The gazebo executable just runs both gzserver and gzclient in separate processes.

If you don't have opengl capabilities, you won't be able to generate camera sensor data. Just a warning.