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I assume the normal render window looks fine, correct?

Can you try something a bit easier?

  1. Run: gazebo worlds/camera.world
  2. When the GUI appears, press CTRL-t to open the topic visualizer.
  3. Select one of the camera image topics, should be /gazebo/defualt/camera/link/camera/image
  4. Does the image look correct? If so, try to fiddle with the environment (add objects, move the camera, etc) to see where it breaks.