The robot can be equipped with a camera. The camera description section of the robot configuration file includes fields to indicate whether or not the robot has camera, where to place the camera (in the robot's frame of reference), and the vision angle of the camera.
The camera is always placed looking towards the positive X axis but is orientation can be changed from the robot controller using the appropriate set of functions or from the on-line user interface.
The vision angle can any form 0 (the camera field becomes a single plane) to 180 (the camera field includes all the surroundings of the robot). Unfortunately, too small or to large vision angles are not accepted by Geomview and the robot camera window is not adapted to them. Although the visualization is not the expected, the internal workings of the simulator are the correct ones for all angles.