I would guess people need to keep their pants zipped. If they are in the public view, they have no expectation of privacy and should act as such.

Is there some reason they cannot pee in their own homes or if it is that rural, then can go beyond the road ROW and should be outside of the view of the camera. They only need to go beyond 30 feet from the road center line.

as to rights to place a camera on private land (not owned by the association) but designated as a ROW; I suspect you could make a decent argument that is not the intent of the ROW and it has no connection to the usage as a roadway and as such is not an acceptable use. If you cannot figure it out with discussions between the parties, a court will surely answer it for you.