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To summarize, in case the tutorial changes...

You add the following to your .world file, which would track target_model from 3 meters behind it:

<gui fullscreen='0'>
     <camera name="user_camera">
        <track_visual>
          <name>target_model</name>
          <static>true</static>
          <use_model_frame>true</use_model_frame>
          <xyz>-3 0 0</xyz>
          <inherit_yaw>true</inherit_yaw>
        </track_visual>
    </camera>
</gui>