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The Gazebo camera plugin publishes images BEST_EFFORT, while the default Rviz2 QoS is RELIABLE. You'll need to tweak Rviz2 to subscribe to images BEST_EFFORT.

It's also possible that the frame_id in the image message doesn't appear in the TF tree that Rviz2 knows about. If you run Rviz2 from the command line you'll see error messages to this effect.

For more info see these answers :

https://answers.ros.org/question/358669/problem-to-read-topics-with-sensorqos-in-rviz-and-rqt/

https://answers.ros.org/question/359390/ros2-rviz2-and-rqt-do-not-shown-published-image/

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