Can the video feed somehow include gps info that would allow the sniper to get lat/long and calculate his/her shot from that?
It seems to me that this is totally the role of a smartlink, although it may require the rigger's drone to have one too to make it work.
Oh, and sniper rifle tend to have the same caliber as HMG to begin with, so it should penetrate at least a light wall. They certainly do even today.
Rulewise, that's Shooting Through Barriers, SR4A p.166, or Destroying Barriers, just under it (if you prefer to make a hole first, then shoot the target). And yes, a sniper rifle should do just fine against light barriers, but don't try it against a structural plascrete wall. Well, not unless you have a very tricked out rifle and a large dice pool to back it up.