MWE camera model

#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>
#include <iostream>

using namespace std;

int main(int _argc, char **_argv)
{
    // setup Gazebo server
    if(gazebo::setupServer())
    {
        cout << "Gazebo server setup successful\n";
    }
    else
    {
        cout << "Gazebo server setup failed!\n";
    }
    gazebo::physics::WorldPtr world = gazebo::loadWorld("worlds/empty.world");
    world->Run(0);
    // Start the Gazebo GUI
    system("gzclient &");

    string cameraString = "<?xml version=\"1.0\" ?>\
                            <sdf version=\"1.5\">\
                              <model name=\"camera\">\
                                <static>true</static>\
                                <pose>4 -4 4 0 0.5 2.4</pose>\
                                <link name=link>\
                                  <pose>0.05 0.05 0.05 0 0 0</pose>\
                                  <inertial>\
                                    <mass>0.1</mass>\
                                  </inertial>\
                                  <visual name=\"visual\">\
                                      <geometry>\
                                          <box>\
                                              <size>0.1 0.1 0.1</size>\
                                          </box>\
                                      </geometry>\
                                  </visual>\
                                  <sensor name=\"camera\" type=\"camera\">\
                                    <camera>\
                                      <horizontal_fov>1.047</horizontal_fov>\
                                      <image>\
                                        <width>1280</width>\
                                        <height>960</height>\
                                      </image>\
                                      <clip>\
                                        <near>0.1</near>\
                                        <far>100</far>\
                                      </clip>\
                                      <save enabled=\"true\">\
                                        <path>/tmp/gazebo_frames</path>\
                                      </save>\
                                    </camera>\
                                    <always_on>1</always_on>\
                                    <update_rate>50</update_rate>\
                                    <visualize>true</visualize>\
                                  </sensor>\
                                </link>\
                              </model>\
                            </sdf>";

    // insert the camera
    world->SetPaused(true);
    int modelCountBefore = world->GetModelCount();
    world->InsertModelString(cameraString);
    world->SetPaused(false);
    int retry=0;
    while (world->GetModelCount() == modelCountBefore)
    {
        gazebo::common::Time::MSleep(100);
         retry++;
         if (retry>1000)
             break;
    }
    if(world->GetModelCount() == modelCountBefore+1)
    {
        cout << "Successfully inserted model.\n";
    }
    else
    {
        cout << "Failed inserting model\n";
    }

    cin.ignore();

    gazebo::shutdown();
}