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Attach camera sensor to UserCamera and publish as ROS topic (Gazebo 2.2)

I'm new to Gazebo, and I'm trying to publish what my UserCamera sees as RGB data to a ROS topic. I'm able to setup a new camera object in an SDF with the camera sensor plugin, but I need the UserCamera so that I can make use of its GetVisual function.

I noticed that the newer gazebo versions publish the /user_camera/joypose data, so I thought I'd look at the source for that, but for some reason all of the code for publishing/subscribing there is in UserCameraPrivate.cc, which I can't access.

So far I've basically only gotten simple UserCamera functions to work by making a System plugin.

Definitely trying to climb a steep learning curve here, so any help is greatly appreciated!