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The answer provided by @natepak answers it. Just a minor modifications and clarifications if you are using Gazebo 9+. My low karma does not allow me to make edits, so posting a separate answer here:

  1. The element camera requires a name attribute. It is 'user_camera' for the Gazebo view camera.
  2. The angles should be in radians
  3. Elements in pose should be separated by space. <pose>x y z roll pitch yaw</pose>

Example:

<world>
    <gui>
        <camera name="user_camera">
            <pose>-7.35 -3.59 39.73 0 1.417 0.124</pose>
        </camera>
    </gui>
</world>

The answer provided by @natepak answers it. Just a few minor modifications and clarifications if you are using Gazebo 9+. My low karma does not allow me to make edits, so posting a separate answer here:here:

  1. The element camera requires a name attribute. It is 'user_camera' for the Gazebo view camera.
  2. The angles should be in radians
  3. Elements in pose should be separated by space. <pose>x y z roll pitch yaw</pose>

Example:

<world>
    <gui>
        <camera name="user_camera">
            <pose>-7.35 -3.59 39.73 0 1.417 0.124</pose>
        </camera>
    </gui>
</world>