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The Darpa ARM Simulator has a Gazebo world with a wall (thin box) and a picture of their lab wall mapped onto it:

The launch file is here: http://svn.thearmrobot.com/darpa_arm_sim_servers/RobotModel/launch/DarpaRobot.launch

and you can examine the code in: http://svn.thearmrobot.com/darpa_arm_sim_servers/RobotModel/

Somewhere in there you can see different *.png wall pictures they tested. I don't know if a photo-realistic picture would look any good though.

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