diff --git a/examples/worlds/dvl_world.sdf b/examples/worlds/dvl_world.sdf
new file mode 100644
index 0000000000..0b599a3cb4
--- /dev/null
+++ b/examples/worlds/dvl_world.sdf
@@ -0,0 +1,291 @@
+<?xml version="1.0" ?>
+<!--
+  Example showing the usage of the Doppler Velocity Log (DVL) sensor
+  on an Autonomous Underwater Vehicle (AUV).
+
+  The world contains the MBARI Tethys LRAUV model along with
+  the following plugins:
+
+  * Buoyancy: applies buoyancy forces
+  * DopplerVelocityLogSystem: sensor to measure doppler velocity
+  * JointPositionController: controls the vertical and horizontal fins
+  * LiftDrag: generates forces on the vertical and horizontal fins
+  * Thruster: propels the vehicle
+  * Hydrodynamics: applies forces such as added mass, drag and coriolis
+
+  The AUV can be controlled using the following commands (to move in a circle):
+
+  1. Move the rudder:
+
+      gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \
+      -m gz.msgs.Double -p 'data: -0.17'
+
+  2. Propel the vehicle:
+
+      gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \
+      -m gz.msgs.Double -p 'data: -31'
+
+  To see the DVL output run the following command:
+
+  3. gz topic -t /dvl/velocity -e
+
+-->
+<sdf version="1.6">
+  <world name="dvl_world">
+    <scene>
+      <!-- For turquoise ambient to match particle effect -->
+      <ambient>0.0 1.0 1.0</ambient>
+      <!-- For default gray ambient -->
+      <background>0.0 0.7 0.8</background>
+
+      <grid>false</grid>
+    </scene>
+
+    <physics name="1ms" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+    </plugin>
+    <plugin
+      filename="gz-sim-dvl-system"
+      name="gz::sim::systems::DopplerVelocityLogSystem">
+    </plugin>
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <uniform_fluid_density>1000</uniform_fluid_density>
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-contact-system"
+      name="gz::sim::systems::Contact">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.5 0.5 0.5 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>
+
+    <!-- This invisible plane helps with orbiting the camera, especially at large scales -->
+    <model name="horizontal_plane">
+      <static>true</static>
+      <link name="link">
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <!-- 300 km x 300 km -->
+              <size>300000 300000</size>
+            </plane>
+          </geometry>
+          <transparency>1.0</transparency>
+        </visual>
+      </link>
+    </model>
+
+    <model name="sea_bottom">
+      <static>true</static>
+      <pose>0 0 -100 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <!-- 300 km x 300 km -->
+              <size>300000 300000</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <material>
+            <ambient>0.5 0.5 0.5</ambient>
+            <diffuse>0.5 0.5 0.5</diffuse>
+          </material>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <!-- 300 km x 300 km -->
+              <size>300000 300000</size>
+            </plane>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+
+    <include>
+      <pose>0 0 -80 0 0 1.57</pose>
+      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+
+      <experimental:params>
+        <sensor
+            element_id="base_link" action="add"
+            name="teledyne_pathfinder_dvl"
+            type="custom" gz:type="dvl">
+          <pose degrees="true">-0.60 0 -0.16 0 0 180</pose>
+          <always_on>1</always_on>
+          <update_rate>1</update_rate>
+          <topic>/dvl/velocity</topic>
+          <gz:dvl>
+            <type>phased_array</type>
+            <arrangement degrees="true">
+              <beam id="1">
+                <aperture>2</aperture>
+                <rotation>45</rotation>
+                <tilt>30</tilt>
+              </beam>
+              <beam>
+                <aperture>2</aperture>
+                <rotation>135</rotation>
+                <tilt>30</tilt>
+              </beam>
+              <beam>
+                <aperture>2</aperture>
+                <rotation>-45</rotation>
+                <tilt>30</tilt>
+              </beam>
+              <beam>
+                <aperture>2</aperture>
+                <rotation>-135</rotation>
+                <tilt>30</tilt>
+              </beam>
+            </arrangement>
+            <tracking>
+              <bottom_mode>
+                <when>best</when>
+                <noise type="gaussian">
+                  <!-- +/- 0.4 cm/s precision at 10 m/s within 2 stddevs -->
+                  <stddev>0.002</stddev>
+                </noise>
+                <visualize>false</visualize>
+              </bottom_mode>
+            </tracking>
+            <!-- Roughly 1 m resolution at a 100m -->
+            <resolution>0.01</resolution>
+            <maximum_range>100.</maximum_range>
+            <minimum_range>0.1</minimum_range>
+            <!-- ENU to SFM -->
+            <reference_frame>0 0 0 0 0 -1.570796</reference_frame>
+          </gz:dvl>
+        </sensor>
+      </experimental:params>
+
+      <!-- Odometry publisher -->
+      <plugin
+        filename="gz-sim-odometry-publisher-system"
+        name="gz::sim::systems::OdometryPublisher">
+      </plugin>
+
+      <!-- Joint controllers -->
+      <plugin
+        filename="gz-sim-joint-position-controller-system"
+        name="gz::sim::systems::JointPositionController">
+        <joint_name>horizontal_fins_joint</joint_name>
+        <p_gain>0.1</p_gain>
+      </plugin>
+
+      <plugin
+        filename="gz-sim-joint-position-controller-system"
+        name="gz::sim::systems::JointPositionController">
+        <joint_name>vertical_fins_joint</joint_name>
+        <p_gain>0.1</p_gain>
+      </plugin>
+
+      <plugin
+        filename="gz-sim-thruster-system"
+        name="gz::sim::systems::Thruster">
+        <namespace>tethys</namespace>
+        <use_angvel_cmd>0</use_angvel_cmd>
+        <joint_name>propeller_joint</joint_name>
+        <thrust_coefficient>0.004422</thrust_coefficient>
+        <fluid_density>1000</fluid_density>
+        <propeller_diameter>0.2</propeller_diameter>
+      </plugin>
+
+      <!-- Lift and drag -->
+
+      <!-- Vertical fin -->
+      <plugin
+        filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
+        <air_density>1000</air_density>
+        <cla>4.13</cla>
+        <cla_stall>-1.1</cla_stall>
+        <cda>0.2</cda>
+        <cda_stall>0.03</cda_stall>
+        <alpha_stall>0.17</alpha_stall>
+        <a0>0</a0>
+        <area>0.0244</area>
+        <upward>0 1 0</upward>
+        <forward>1 0 0</forward>
+        <link_name>vertical_fins</link_name>
+        <cp>0 0 0</cp>
+      </plugin>
+
+      <!-- Horizontal fin -->
+      <plugin
+        filename="gz-sim-lift-drag-system"
+        name="gz::sim::systems::LiftDrag">
+        <air_density>1000</air_density>
+        <cla>4.13</cla>
+        <cla_stall>-1.1</cla_stall>
+        <cda>0.2</cda>
+        <cda_stall>0.03</cda_stall>
+        <alpha_stall>0.17</alpha_stall>
+        <a0>0</a0>
+        <area>0.0244</area>
+        <upward>0 0 1</upward>
+        <forward>1 0 0</forward>
+        <link_name>horizontal_fins</link_name>
+        <cp>0 0 0</cp>
+      </plugin>
+
+      <!-- Hydrodynamics plugin-->
+      <plugin
+        filename="gz-sim-hydrodynamics-system"
+        name="gz::sim::systems::Hydrodynamics">
+        <link_name>base_link</link_name>
+        <xDotU>-4.876161</xDotU>
+        <yDotV>-126.324739</yDotV>
+        <zDotW>-126.324739</zDotW>
+        <kDotP>0</kDotP>
+        <mDotQ>-33.46</mDotQ>
+        <nDotR>-33.46</nDotR>
+        <xUabsU>-6.2282</xUabsU>
+        <xU>0</xU>
+        <yVabsV>-601.27</yVabsV>
+        <yV>0</yV>
+        <zWabsW>-601.27</zWabsW>
+        <zW>0</zW>
+        <kPabsP>-0.1916</kPabsP>
+        <kP>0</kP>
+        <mQabsQ>-632.698957</mQabsQ>
+        <mQ>0</mQ>
+        <nRabsR>-632.698957</nRabsR>
+        <nR>0</nR>
+      </plugin>
+    </include>
+  </world>
+</sdf>
diff --git a/test/worlds/README.md b/test/worlds/README.md
new file mode 100644
index 0000000000..faaa619e1d
--- /dev/null
+++ b/test/worlds/README.md
@@ -0,0 +1,9 @@
+# Integration Testing Files
+
+## Purpose
+
+This folder contains world files specifically designed for purpose of integration testing of system plugins. **They are strictly for testing and not meant to be run as examples.**
+
+## Running system plugin examples
+
+The world files are present in the `examples/worlds` directory of this repository.