[Explanation needed] Relations between viewport, camera, ROSCamera

Hello there,
I am a bit confused between the three viewport, camera and ROSCamera. As long as I understood correctly, the viewport shows what is actually being seen by the ROSCamera. However, when I create a ROSCamera, I can define different parameters that the one of the viewport, that can then be different w.r.t. the camera prim itself.

How are those related/overwritten/what is the flow?

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