<?xml version="1.0"?>
<sdf version='1.6'>
  <world name='default'>
    <model name='unit_box'>
      <pose>0 0 2.5 0 -0 0</pose>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model>
    <light name='user_directional_light_0' type='directional'>
      <pose>0 0 1 0 0 0</pose>
    </light>
    <model name='camera'>
      <static>true</static>
      <pose>-1 0 2 0 1 0</pose>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='my_camera' type='camera'>
          <camera>
            <save enabled="true">
              <path>/tmp/camera_save_tutorial</path>
            </save>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>1920</width>
              <height>1080</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
        </sensor>
      </link>
    </model>
  </world>
</sdf>

<sensor name="my_camera">
  <camera>
    <image>
      <width>1920</width>
      <height>1080</height>
    </image>
    ...
    <save enabled="true">
      <path>/tmp/camera_save_tutorial</path>
    </save>
    ...
    <update_rate>30</update_rate>
  </camera>
</sensor>