ROS Equivalent to "playerc_camera_subscribe"

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I'm trying to write a C++ program that will allow me to capture a single frame from a camera in Gazebo. My Gazebo node has no problems publishing the images from the stereo camera. I know this because I've already tried with rosbag and rostopic list. The camera itself works too. Is there a ROS/C++ equivalent for the following lines that will allow my C++ node to "latch onto" Gazebo and subscribe to the image data?

playerc_camera_subscribe(camera1, PLAYER_OPEN_MODE);
*realFrame = cvQueryFrame( capture );