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How to use Image rviz when I use SITL and Gazebo

I download the SITL, which works with gazebo together. I want to get the image from Arducopter. The arducopter equips the camera, but I do not know how to use the camera.

Here are the picture s about open up SITL and Gazebo. I think when I open up gazebo, I should add something to "gazebo --verbose worlds/". Which command should I add, and where.

Thank you!image description