Now we can do video chat from any device running Android 2.3 or higher. In your Google Talk friend list you will find a video chat button next to the contacts enabled. Just click on the button to start your the video conference.
This version of Google Talk with video chat will be rolling out to Nexus S in a few weeks as part of the Android 2.3.4 over-the-air update and later will be released for other Android 2.3+ devices. For more information about how to use the video chat you can visit the Google Mobile Help Center.