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thank you, I did it.
For people who have the same problem, the solution is : When lgsvl simulator connected to rosbrige, run this command

rosrun image_transport republish compressed in:=/simulator/camera_node/image raw out:=/new_topic_name

It need to be /image , not /image/compressed careful! Then don't forget to add topic in display -> add button -> by topic -> new_topic_name

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