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Make sure the camera <framename> is correct in the <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> section of the urdf. I had mine set to camera_link and was getting the same error because camera_link wasn't a real link (and I had cut and paste it from a gazebo camera example). The camera view shown isn't the same as the raw image rqt_image_view or the rviz image display (as Mani suggests above and probably what you wanted anyhow), it tries to overlay elements of rviz onto the view.