I am very new to routers/routing and am learning. I started a small rural ISP last year and every customer on my network has a private ip address.

I just installed an IP camera in my office and I can get into when I'm on my network. I do not have any public IP addresses to assign yet (pending a request to AT&T) so I was wondering if it is possible to access my camera from outside my network in another manner? If it is, what method would you use? From what I can tell from reading, it looks like I need to get familiar with port forwarding.

All of my routers are Mikrotik 493AH models.

Appreciate it!

you should somehow reach your routers. if you haven't any public ip, then you should have public ip on where you want remote from. and then start a pptp or ip tunnel to that place. other ways exist. but not inside a router without a public ip.

You say that you don't have public ip adresses, in this case you cannot access youre camera from the internet, if the ip that you're ISP is giveing you is public you have to add this rule in the terminal:
z is the port of the camera and y.y.y.y is the private ip of the camera

if you use firewall rules you also have to allow access on port z to input and forward chain: This will allow all traffic on port z to enter the router and into forward chain and if you acces your public IP, provided by your ISP, on port z the traffic will be redirected to y.y.y.y port z
if the camera uses more than one port for example a HTTP port and a DATA port you add these 3 rules and modify only z

Thank you.