A popular event in Sydney, but not cheap.

Unfortunately cannot take your camera up with you.
Non pocket overalls supplied & worn and go through a detector so no smuggled anything. Apparently a insurance requirement as concern over dropped things from 200+ ft above footpath and roadway. The only non clothing item you can take up is a handkerchief, rubber banded to your wrist.
Quite safe even if you suffer from vertigo. Notice the clip line to the bridge. It tethers you all the way. Not a strenuous walk either although it looks daunting.

You can however go up the southern pylon for a few bucks and take your camera. Not quite as high but a stunning view anyway.