An SDF file with multiple logical cameras

multi_logical_camera.sdf

<sdf version="1.7">
  <!-- based on shapes.sdf example -->
  <world name="multi_logical_camera">
    <physics name="physics_settings" type="dart">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics"/>
    <plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands"/>
    <plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster"/>
    <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>
    <plugin filename="libignition-gazebo-logical-camera-system.so" name="ignition::gazebo::systems::LogicalCamera">
      <render_engine>ogre2</render_engine>
    </plugin>
    <plugin filename="libignition-gazebo-contact-system.so" name="ignition::gazebo::systems::Contact"/>
    <scene>
      <grid>true</grid>
      <ambient>1.0 1.0 1.0</ambient>
      <background>0.8 0.8 0.8</background>
    </scene>
    <gui fullscreen="0">
      <!-- 3D scene -->
      <plugin filename="GzScene3D" name="3D View">
        <ignition-gui>
          <title>3D View</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="string" key="state">docked</property>
        </ignition-gui>
        <engine>ogre2</engine>
        <scene>scene</scene>
        <ambient_light>1.0 1.0 1.0</ambient_light>
        <background_color>0.8 0.8 0.8</background_color>
        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
      </plugin>
      <!-- World control -->
      <plugin filename="WorldControl" name="World control">
        <ignition-gui>
          <title>World control</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="bool" key="resizable">false</property>
          <property type="double" key="height">72</property>
          <property type="double" key="width">121</property>
          <property type="double" key="z">1</property>
          <property type="string" key="state">floating</property>
          <anchors target="3D View">
            <line own="left" target="left"/>
            <line own="bottom" target="bottom"/>
          </anchors>
        </ignition-gui>
        <play_pause>true</play_pause>
        <step>true</step>
        <start_paused>true</start_paused>
        <service>/world/multi_logical_camera/control</service>
        <stats_topic>/world/multi_logical_camera/stats</stats_topic>
      </plugin>
      <!-- World statistics -->
      <plugin filename="WorldStats" name="World stats">
        <ignition-gui>
          <title>World stats</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="bool" key="resizable">false</property>
          <property type="double" key="height">110</property>
          <property type="double" key="width">290</property>
          <property type="double" key="z">1</property>
          <property type="string" key="state">floating</property>
          <anchors target="3D View">
            <line own="right" target="right"/>
            <line own="bottom" target="bottom"/>
          </anchors>
        </ignition-gui>
        <sim_time>true</sim_time>
        <real_time>true</real_time>
        <real_time_factor>true</real_time_factor>
        <iterations>true</iterations>
        <topic>/world/multi_logical_camera/stats</topic>
      </plugin>
      <!-- Entity tree -->
      <plugin filename="EntityTree" name="Entity tree">
        <ignition-gui>
          <property type="bool" key="showTitleBar">false</property>
          <property type="string" key="state">docked</property>
        </ignition-gui>
      </plugin>
      <!-- Transform Control -->
      <plugin filename="TransformControl" name="Transform Control"/>
      <plugin filename="ImageDisplay" name="Image Display">
        <ignition-gui>
          <property key="state" type="string">docked</property>
        </ignition-gui>
      </plugin>
    </gui>
    <light type="directional" name="sun">
      <cast_shadows>true</cast_shadows>
      <pose>0 0 10 0 0 0</pose>
      <diffuse>0.8 0.8 0.8 1</diffuse>
      <specular>0.8 0.8 0.8 1</specular>
      <attenuation>
        <range>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>
    <model name="box-1">
      <pose>-0.65 -0.65 0.05 0 0 0</pose>
      <static>false</static>
      <link name="body">
        <inertial>
          <mass>0.25</mass>
          <inertia>
            <ixx>0.000416</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000416</iyy>
            <iyz>0</iyz>
            <izz>0.000416</izz>
          </inertia>
        </inertial>
        <visual name="visual">
          <geometry>
            <box>
              <size>.1 .1 .1</size>
            </box>
          </geometry>
          <material>
            <ambient>0.5 0.5 0.5 1</ambient>
            <diffuse>0.5 0.5 0.5 1</diffuse>
            <specular>0.5 0.5 0.5 1</specular>
          </material>
        </visual>
        <collision name="collision">
          <geometry>
            <box>
              <size>.1 .1 .1</size>
            </box>
          </geometry>
        </collision>
      </link>
    </model>
    <model name="box-2">
      <pose>-0.838355 0.631337 0.05 -0 -0 -0</pose>
      <static>false</static>
      <link name="body">
        <inertial>
          <mass>0.25</mass>
          <inertia>
            <ixx>0.000416</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.000416</iyy>
            <iyz>0</iyz>
            <izz>0.000416</izz>
          </inertia>
        </inertial>
        <visual name="visual">
          <geometry>
            <box>
              <size>.1 .1 .1</size>
            </box>
          </geometry>
          <material>
            <ambient>0.5 0.5 0.5 1</ambient>
            <diffuse>0.5 0.5 0.5 1</diffuse>
            <specular>0.5 0.5 0.5 1</specular>
          </material>
        </visual>
        <collision name="collision">
          <geometry>
            <box>
              <size>.1 .1 .1</size>
            </box>
          </geometry>
        </collision>
      </link>
    </model>
    <model name="logical_camera_1">
      <static>true</static>
      <pose>-.75 -.75 2.0 0 1.57 0 </pose>
      <link name="logical_camera_link">
        <pose>0 0 0 0 0 0</pose>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name="logical_camera_1" type="logical_camera">
          <topic>logical_camera_1</topic>
          <update_rate>10</update_rate>
          <logical_camera>
            <near>0.55</near>
            <far>5</far>
            <horizontal_fov>1.04719755</horizontal_fov>
            <aspect_ratio>1.778</aspect_ratio>
          </logical_camera>
          <alwaysOn>1</alwaysOn>
          <visualize>true</visualize>
        </sensor>
      </link>
    </model>
    <model name="logical_camera_2">
      <static>true</static>
      <pose>-.75 .75 2.0 0 1.57 0 </pose>
      <link name="logical_camera_link">
        <pose>0 0 0 0 0 0</pose>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name="logical_camera_2" type="logical_camera">
          <topic>logical_camera_2</topic>
          <update_rate>10</update_rate>
          <logical_camera>
            <near>0.55</near>
            <far>5</far>
            <horizontal_fov>1.04719755</horizontal_fov>
            <aspect_ratio>1.778</aspect_ratio>
          </logical_camera>
          <alwaysOn>1</alwaysOn>
          <visualize>true</visualize>
        </sensor>
      </link>
    </model>
  </world>
</sdf>