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Wolrd/model Tracking plugin

Hi all,

I'd like to have a flying camera which is exactly located >5 meters above a robot and tracks it for all the duration of the simulation.

My idea is to get the pose of the mobile robot, remove any roll and pitch, change the altitude and applying to the flying camera.

I think I should write a plugin but I don't have any experience so I really don't know how to do it or if I need a world or a model plugin.

Can you please help me? Thanks