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Gazebo system plugin tutorial problem: no frames saved

I am doing gazebo system plug in tutorial ( link )

After running the plugin, I suppose to have several pictures saved in /tmp/gazebo_frames directory. However, when I checked, I didn't even have such directory, let alone the frames.

Anyone has the same problem with me? What is the solution?

Side question: I know that gzserver is to run the gazebo server, but what does the & modifier do in gzserver & command?